The paper ‘Total Turning and Motion Range Prediction for Safe Unicycle Control’ by Abdulla Tarshahani, Aykut Isleyen, and Omur Arslan, proposes a new method for controlling unicycle robots. They introduce an accurate triangular motion bound based on the total turning effort, providing a more precise prediction of the unicycle’s path. This approach improves safety by avoiding undesired spiral oscillatory motion around the goal position. The paper compares this method with circular and conic motion prediction methods, demonstrating its superior accuracy and dependence on unicycle state and control parameters. The results are validated through numerical simulations.
Publication date: 21 Nov 2023
Project Page: https://arxiv.org/abs/2311.12532v1
Paper: https://arxiv.org/pdf/2311.12532
