Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots
2026-07-20 • Robotics
Robotics
AI summaryⓘ
The authors address the problem of steering nonholonomic mobile robots accurately while respecting limits on how sharply they can turn. They propose a new method combining a special kind of vector field that ensures robot paths have smooth, bounded curvature and converge quickly in finite time, with a control law that keeps commands within actuator limits without saturation. Their approach avoids relying on some complicated calculations and guarantees stability almost everywhere. Simulations and real-world tests on a car-like robot show their method performs better and is robust compared to existing ones.
nonholonomic robotvector fieldcurvature constraintfinite-time convergencesaturation-free controlAckermann steeringfeedback controlstability analysisdynamical systemstrajectory planning
Authors
Zhouru Xiao, Sha Luo, Yang Lu, Héctor García de Marina, Zhenyang Xu, Chaosong Gong, Yaonan Wang, Weijia Yao
Abstract
Accurately steering a robot to a target configuration is fundamental in engineering, yet remains challenging for nonholonomic mobile robots. Vector fields (VFs) provide a natural framework by specifying desired motion directions throughout the workspace and enabling direct integration with feedback control. However, most existing VF-based methods cannot explicitly generate trajectories satisfying curvature constraints. Actuator limits are therefore often enforced by input saturation, which may invalidate stability guarantees and degrade closed-loop performance when not considered in controller design. In addition, these methods usually ensure only asymptotic convergence without an explicit settling-time bound. To address these issues, we propose a generalized motion planning and control framework consisting of a finite-time curvature-constrained vector field (FT-C2VF) and a saturation-free control law. Depending on the motion objective, the framework drives the robot to the target configuration in finite time or through it periodically. First, the FT-C2VF is constructed using complementary gains to achieve finite-time convergence while ensuring that the curvature of its integral curves is continuous, bounded, and monotonically decreasing with the radial ratio. Second, an almost globally C1-smooth, saturation-free controller is developed to track the FT-C2VF without Jacobian information, while keeping all control inputs within prescribed actuator limits. Third, dynamical-systems analysis establishes almost-global finite-time stability of the target equilibrium. Numerical simulations show improved performance over representative VF-based methods, and outdoor experiments on an Ackermann-steered vehicle confirm the effectiveness and robustness of the proposed approach.