Fig. 12
From: Vision-based adaptive path following controller for 4W mobile robots on varied terrains
Comparison of distance error \(e_{d}\) in straight-path following using the \(PFC_{{\alpha }_{\omega -fixed}}\) and \(PFC_{{\alpha }_{\omega -adaptive}}\) control strategies: (a)\(0^{o}\) heading, (b) \(45^{o}\) heading, (c) \(90^{o}\) heading, (d) \(135^{o}\) heading.
