Preprint Open access
Decoupling Physical Speed from Path Parameterization in Singularity-Free Guiding Vector Fields
The existing singularity-free guiding vector field (SF-GVF) with an additional virtual coordinate can eliminate singular points (i.e., points where the vector field vanishes) inherent in conventional GVFs and guarantee global convergence of robot trajectories to closed and self-intersecting desired paths. However, the …