Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control

Steers unicycle despite model perturb. scaling speed & turning rate by unknown, bounded constant.

This Matlab code implements algorithms from the paper:

"Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control", Becker, A.; Bretl, T.;
Robotics, IEEE Transactions on , vol.28, no.3, pp.580-591, June 2012
doi: 10.1109/TRO.2011.2182117
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6157635&isnumber=6210446
preprint at http://rms.ae.illinois.edu/papers/Becker2012.pdf

Code by Tim Bretl and Aaron Becker
(http://rms.ae.illinois.edu/index.php/people/faculty/tim-bretl/)

ABSTRACT: This controller considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius, and validate our approach with hardware experiments

User specifies the ORDER, the goal location (DX, DY), and the spread of the ensemble