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This paper presents a novel frequency-domain approach for path followingproblem, specifically designed to handle paths described by discrete data. Theproposed algorithm utilizes the fast Fourier Transform (FFT) to process thediscrete path data, enabling the construction of a non-singular guiding vectorfield. This vector field serves as a reference direction for the controlledrobot, offering the ability to adapt to different levels of precision.Additionally, the frequency-domain nature of the vector field allows for thereduction of computational complexity and effective noise suppression. Theefficacy of the proposed approach is demonstrated through a numericalsimulation, and theoretical analysis provides an upper bound for the ultimatemean-square path-following error.

A Frequency-Domain Path-Following Method for Discrete Data-Based Paths