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

Figure 8

Trajectories in the 𝑥-𝑦 plain and time response of control commands 𝑢₁ and 𝑢₂ by the method in Section 3 at different values of 𝜆, from (A) to (C).

(a)

(b)

(c)