ROBOT AND METHOD OF CONTROL FOR AN AUTONOMOUS VEHICLE TO TRACK A PATH CONSISTING OF DIRECTED STRAIGHT LINES AND CIRCLES WITH POSITIONAL FEEDBACK AND CONTINOUS CURVATURE

A vehicle control system having a computer control system, wherein the computer control system comprises a Vehicle-Independent Subsystem and a Vehicle-Dependent Subsystem, and wherein the Vehicle-Independent Subsystem inputs vehicle incremental movement distance and vehicle incremental heading-orientation change from the Vehicle-Dependent Subsystem and outputs commanded path curvature and commanded speed to the Vehicle-Dependent Subsystem, and wherein the Vehicle-Dependent Subsystem inputs the commanded path curvature and commanded speed from the Vehicle-Independent Subsystem, and outputs the incremental vehicle movement distance and vehicle heading-orientation change to the Vehicle-Independent Subsystem, wherein the computer control system has the capability of controlling the execution steps at a constant sampling time interval so that the vehicle system can track a path consisting of lines and/or circular arcs with positional feedback and continuous curvature.