Results 111 to 120 of about 74,104 (165)

A Path Tracking Control Algorithm for Smart Wheelchairs

2020 International Symposium on Medical Robotics (ISMR), 2020
Since the 1980s several works were published proposing solutions for users with severe mobility impairments that prevent them from operating motorized wheelchairs through mechanical joysticks. Such solutions commonly focus on assistive interfaces and wheelchair automation.
Filipe P. de Paiva, Eleri Cardozo, Eric Rohmer   +2 more
openaire   +1 more source

On-Road Path Generation and Control for Waypoints Tracking

IEEE Intelligent Transportation Systems Magazine, 2017
This article addresses path generation and predictive control for waypoints tracking. By considering irregularity of waypoints given by the leading vehicle, the waypoints-following vehicle is made to track a clothoid path that assures safe and comfortable driving while keeping track of the waypoints in the least squares sense. In the generation of such
Chang Mook Kang, Seung-Hi Lee, Chung Choo Chung   +2 more
openaire   +1 more source

Path tracking control of a manipulator with passive joints

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002
A method is proposed of path tracking control of a manipulator with passive joints, i.e. having no actuators. A desired path is geometrically specified in operational space. The position of the manipulator is controlled to follow the desired path. In this method, a path coordinate system based on the desired path is defined in operational space.
Hirohiko Arai, Kazuo Tanie, Susumu Tachi
openaire   +1 more source

A Predictive Controller for Autonomous Vehicle Path Tracking

IEEE Transactions on Intelligent Transportation Systems, 2009
This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure.
Guilherme V. Raffo, Guilherme K. Gomes, Julio E. Normey-Rico, Christian Roberto Kelber, Leandro Buss Becker   +4 more
openaire   +1 more source

Development of Path Tracking Controller for An Autonomous Tracked Vehicle

2020 16th IEEE International Colloquium on Signal Processing & Its Applications (CSPA), 2020
This study presents the development of autonomous tracked vehicle and its path tracking control. The path tracking controller was developed based on the previous study and later modified by adding a PID controller to improve the sensitivity of the controller.
Muhammad Akhimullah Subari, Khisbullah Hudha, Zulkiffli Abd Kadir, Syed Mohd Fairuz Syed Mohd Dardin, Noor Hafizah Amer   +4 more
openaire   +1 more source

Hierarchical control for path tracking of autonomous vehicles

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012
This paper studies the path tracking problem for autonomous vehicles in the presence of uncertainties in both tire-road condition and aerodynamic drag. A hierarchical control architecture is adopted, which includes active front wheel steering in combination with low level control of the longitudinal wheel slip.
Changfang Chen, Yingmin Jia, Junping Du 0001, Jun Zhang 0007   +3 more
openaire   +1 more source

Virtual programming with path guidance and tracking control

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002
This paper presents a novel approach toward the real-time rendering of artificial guidance in virtual programming. It models the operational characteristics of robot programming with a biologically inspired neural network. Through neural activity propagation, this approach creates a new means of assisting the direct manipulation of virtual objects with
Xiaobu Yuan, Simon X. Yang
openaire   +1 more source

Force control of a 4WS4WD vehicle for path tracking

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015
The aim of this paper is to develop a system where forces at the wheels of a ground vehicle are controlled to guide the vehicle along a planned path. The 7-order Bezier curves are applied to path planning and online path tracking, and used to obtain profiles of velocities and accelerations for the guidance of a 4WS4WD vehicle.
Penglei Dai, Jay Katupitiya
openaire   +1 more source

Integral backstepping controller for quadrotor path tracking

2015 International Conference on Advanced Robotics (ICAR), 2015
An integral backstepping control algorithm is presented for the path tracking problem of a quadrotor in this work. The dynamical model of a quadrotor is represented based on unit quaternion representation and includes some modelled aerodynamical effects as a nonlinear part.
Wesam Jasim, Dongbing Gu
openaire   +1 more source

Path tracking control of a manipulator considering torque saturation

IEEE Transactions on Industrial Electronics, 1994
When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator's dynamics and actuator's torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation ...
Hirohiko Arai, Kazuo Tanie, Susumu Tachi
openaire   +1 more source