Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

Table 1

Position coordinates and yaw angles of the planned path.

Number	1	2	3	4	5	6	7	8	9
𝑥/𝑥𝑟 (m)	0	1	1	2	1	2	3	4	5
𝑦/𝑦𝑟 (m)	0	0	1	2	3	4	4	5	5
𝜙 (∘)	0	𝜋/2	𝜋/4	3𝜋/4	𝜋/4	0	𝜋/4	0