Resumen:
This paper presents an algorithm for path planning in which the evasion of fixed and mobile obstacles is considered in order to be followed by an unmanned land vehicle; path planning is based on visual feedback through an unmanned aerial vehicle. In addition, a path planning algorithm is proposed for the ground vehicle in which a non-constant velocity is considered that is a function of the control error, of the curvature of the road to be followed. The stability of the control algorithm is tested through the Lyapunov method. Finally the experimental results are presented and discussed in which the proposal is validated.
