Adaptive Tracking Control of On-line Path Planners: Velocity fields and Navigation functions
Traditionally, robot control researchers have focused on the position tracking problem where the
objective is to force the robot to follow a desired time dependent trajectory. Since the objective is
encoded in terms of a time dependent trajectory, the robot may be forced to follow an unknown
course to catch up with the desired trajectory in the presence of a large initial error. Motivated by
task objectives that are more effectively described by on-line, state-dependent trajectories, two
adaptive tracking controllers are developed that accommodate on-line path planning objectives.