Skip to main content Skip to main navigation


Autonomous Steering Controller for Path Following

Mohammed Ahmed; Ajish Babu
DFKI GmbH, DFKI Documents (D), Vol. 14-05, ISBN ISSN 0946-0098, Selbstverlag, 6/2014.


We present an autonomous path following controller for mobile robots. Controller designs using the kinematic model of the robot is discussed for both differential and car-like steering. The kinematic model of the robot is transformed to chained form, from which the controller is developed. It is intergrated in ROCK frame work and are being used by many projects at DFKI. Results of the controller from the IMoby and EO2 projects are also presented.