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Differential drive robots that can be modeled as a kinematic unicycle are astandard mobile base platform for many service and logistics robots. Safe andsmooth autonomous motion around obstacles is a crucial skill for unicyclerobots to perform diverse tasks in complex environments. A classical controlapproach for unicycle control is feedback linearization using a headway pointat a fixed headway distance in front of the unicycle. The unicycle headwaycontrol brings the headway point to a desired goal location by embedding alinear headway reference dynamics, which often results in an undesired offsetfor the actual unicycle position. In this paper, we introduce a new unicycleheadway control approach with an adaptive headway distance that overcomes thislimitation, i.e., when the headway point reaches the goal the unicycle positionis also at the goal. By systematically analyzing the closed-loop unicyclemotion under the adaptive headway controller, we design analytical feedbackmotion prediction methods that bound the closed-loop unicycle positiontrajectory and so can be effectively used for safety assessment and safeunicycle motion design around obstacles. We present an application of adaptiveheadway motion control and motion prediction for safe unicycle path followingaround obstacles in numerical simulations.

Adaptive Headway Motion Control and Motion Prediction for Safe Unicycle Motion Design