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This problem can be solved by various types of controllers. Firstly, I would suggest you to create intermediary points in between two consecutive points your Path Planning Algorithm calculates. Try to make the intermediary points frequent. The frequency of these intermediary points will also define the movement characteristic of the robot (agressive, slow ...


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With problems like this, you will need apriori knowledge of your operating area. Since you know that it is a fixed-size arena, you could build a map and use localization within the map to know where you are / if you stray away from your path. There are several visual methods to create such a map. I'd suggest you start with ORB_SLAM.


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If I understand your question correctly, you are trying to estimate the position of arbitrary points in an environment given scattered 3D points. For example, your robot is at position (x, y, z) where your x and y are known but you need to determine the z given the scattered GIS data. This is an interpolation problem, and the matlab doc have a pretty ...


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