Results 161 to 170 of about 1,221,438 (242)

Research on unmanned electric shovel autonomous driving path tracking control based on improved pure tracking and fuzzy control

J. Field Robotics, 2023
This paper proposes a path tracking control method combining pure tracking algorithms and self‐adaptive fuzzy control for autonomous driving of an unmanned electric shovel. An improved pure tracking controller was designed based on the kinematic model of
Guohua Wu, Guoqiang Wang, Qiushi Bi, Yongpeng Wang, Yi Fang, Guangyong Guo, Wentao Qu   +6 more
semanticscholar   +1 more source

Perceptual Interaction-Based Path Tracking Control of Autonomous Vehicles Under DoS Attacks: A Reinforcement Learning Approach

IEEE Transactions on Vehicular Technology, 2023
This paper considers the distributed optimal path tracking control problem of autonomous ground vehicles (AGVs) with matched uncertainties under denial-of-service (DoS) attacks.
Yong Xu, Zhengguang Wu, Yaodong Pan
semanticscholar   +1 more source

Controller-Aware Path optimization for Enhancing Path Tracking Performance

2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), 2020
In a typical hierarchical autonomous driving framework, the motion planner and controller are developed separately for convenience. In most cases, the planner does not have knowledge of the controller tracking behavior, which leads to prediction error of the planning system when computing a reference path.
Wei Wang, Huiyan Chen, Steven L. Waslander, Jiangnan Li, Jianwei Gong   +4 more
openaire   +1 more source

Design and Optimization of Robust Path Tracking Control for Autonomous Vehicles With Fuzzy Uncertainty

IEEE transactions on fuzzy systems, 2022
Uncertainty is a major concern in vehicle path tracking control design. The coefficients of the uncertainty bound are unknown. They are assumed to lie within prescribed fuzzy sets.
Zeyu Yang, Jin Huang, Diange Yang, Zhihua Zhong   +3 more
semanticscholar   +1 more source

Path tracking control of tracked vehicles

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002
A path tracking control algorithm for tracked surface drilling machines is presented. The general dynamic model of such vehicle is simulated including track-soil interactions. The controller is based on feedback linearization of the equations with feedforward friction compensation.
M. Ahmad, V. Polotski, R. Hurteau
openaire   +1 more source

Path tracking control for Dubin's cars

Proceedings of IEEE International Conference on Robotics and Automation, 2002
The problem of driving a Dubin's car (1957) along a given path is considered. In order to model a realistic road-following problem, the car is supposed to move forward only and to have bounds on the turning radius (Dubin's car). We propose a discontinuous control scheme on the angular velocity of the vehicle, based on the theory of sliding modes, that ...
BALLUCHI, ANDREA, BICCHI A, BALESTRINO, ALDO, G. CASALINO   +3 more
openaire   +1 more source

Robust Adaptive Path-Tracking Control of Autonomous Ground Vehicles With Considerations of Steering System Backlash

IEEE Transactions on Intelligent Vehicles, 2022
Backlash phenomena have haunted control engineers for ages. Concerning the ground vehicle path-tracking control system design, the steering system's backlash attribute is often overlooked.
Xing-nan Zhou, Zejiang Wang, Heran Shen, Junmin Wang   +3 more
semanticscholar   +1 more source

Path Tracking Control of Micro-Tracked Mobile Robot

Applied Mechanics and Materials, 2014
The positioning accuracy of tracked mobile robot is low because of sliding in steering process. Taking the micro-tracked mobile robot as the platform, the interface force between tracks and ground was analyzed, and the motor model, kinematic model and dynamic model were established further.
Jian Gao, Shi Long Zhang
openaire   +1 more source

Path Tracking Control for Underactuated Vehicles With Matched-Mismatched Uncertainties: An Uncertainty Decomposition Based Constraint-Following Approach

IEEE transactions on intelligent transportation systems (Print), 2022
This paper presents a robust path tracking control method by utilizing the ideology of constraint-following approach for uncertain underactuated autonomous vehicles. The uncertainties are bounded with an unknown boundary.
Zeyu Yang, Jin Huang, Hui Yin, Diange Yang, Zhihua Zhong   +4 more
semanticscholar   +1 more source

Model free predictive path tracking control of variable-configuration unmanned ground vehicle.

ISA transactions, 2022
Unmanned ground vehicle (UGV) is developing towards high mobility and intelligence, where path tracking plays a particularly important role. This paper investigated the path tracking control strategy of variable-configuration unmanned ground vehicle.
Yue Jiang, Xiaojun Xu, Lei Zhang, Tengan Zou   +3 more
semanticscholar   +1 more source