This is a implementation of arbitrary trajectory follower robot with simulation on VREP with P3DX robot.
Based on:
KANAYAMA, Y. et al. A stable tracking control method for an autonomous mobile robot. In: Proceedings., IEEE International Conference on Robotics and Automation. [S.l.: s.n.], 1990. p. 384–389 vol.1.
MORRO, A.; SGORBISSA, A.; ZACCARIA, R. Path following for unicycle robots with an arbitrary path curvature. IEEE Transactions on Robotics, v. 27, n. 5, p. 1016–1023, Outubro 2011. ISSN 1552-3098.