Discrete Data-Based Frequency-Domain Closed Planar Path Following Method

This article presents a frequency-domain method for following paths that cannot be expressed analytically. First, the path is described using discrete path points. The proposed algorithm utilizes the fast Fourier transform (FFT) to process this data, enabling the construction of a nonsingular guiding vector field. This vector field serves as a reference direction for the controlled robot, allowing for adjustments at different levels of precision. In addition, the frequency-domain nature of the vector field reduces computational complexity and effectively suppresses noise. This approach also facilitates the formation of specific patterns in group systems. The efficacy of the proposed method is demonstrated through numerical simulations and experiments with the TurtleBot3 and Crazyflie 2.1 quadrotors. Finally, a comparative study is conducted to highlight the advantages, robustness, and parameter sensitivity of the proposed algorithm.