Supuesto conocido un camino, y la velocidad del vehículo v(/), estando acotadas tanto la velocidad como su derivada v'(f)» se trata de encontrar una ley de control, suficientemente suave:
known a road course, and the vehicle speed v (/), being bounded both speed and its derivative v '(f)' is trying to find a control law, sufficiently smooth:
Course known a path, and the vehicle speed v( / ), still controlled both the speed and its derivative v' (f)" this is to find a control law, gentle enough: