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Safe and smooth motion control is essential for mobile robots when performingvarious automation tasks around obstacles, especially in the presence of peopleand other mobile robots. The total turning and space used by a mobile robotwhile moving towards a specified goal position play a crucial role indetermining the required control effort and complexity. In this paper, weconsider a standard unicycle control approach based on angular feedbacklinearization and provide an explicit analytical measure for determining thetotal turning effort during unicycle control in terms of unicycle state andcontrol gains. We show that undesired spiral oscillatory motion around the goalposition can be avoided by choosing a higher angular control gain compared tothe linear control gain. Accordingly, we establish an accurate, explicittriangular motion range bound on the closed-loop unicycle trajectory using thetotal turning effort. The improved accuracy in motion range prediction resultsfrom a stronger dependency on the unicycle state and control parameters. Tocompare alternative circular, conic, and triangular motion range predictionapproaches, we present an application of the proposed unicycle motion controland motion prediction methods for safe unicycle path following around obstaclesin numerical simulations.

Total Turning and Motion Range Prediction for Safe Unicycle Control