An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

Figure 2

The coordinate system and the path functions for straight passage. The robot drives toward the positive direction of the 𝑥-axis. The horizontal lines 𝑦=𝑊₁ and 𝑦=−𝑊₂ represent the boundary of passage, such as walls.