Curve-Aware Model Predictive Control (C-MPC) Trajectory Tracking for Automated Guided Vehicle (AGV) over On-Road, In-Door, and Agricultural-Land

Round 1

Reviewer 1 Report

Dear Authors,

Thank you for your effort with this study. Curve finding is an approprate research interest for road engineering-related studies. Especially in autonomous driving and road safety. My general idea for your study is "This is currently supportive equipment for drivers". Please find below my minor comments, suggestions and question. Hope to improve your manuscript.

-For the first use of abbreviations, write without the abbreviation. For example, see Line 57;83;85;108 et al. "MAE"!, "KPCA–BPNN and IPSO–BTGWP", "GNSS-RTK".

You can use standard usage in your article by checking the spelling of "LiDAR" on Line 79;91.

There is enough literature in your study. Maybe you should look out newly investigated studies on horizontal curve estimation models. But it depends. Please check your references i.e., Line 645 "Lannelongue, L., Grealey, J., & Inouye, M. (2021)." (typing style).

Figures are given appropriately. But captions should be checked for typos. See Line 183. "Figure 3. proposed AGV." Table and figure citations must be use before the given table and figure in the manuscript. See Line 249. Description for the table (citation) can be seen after the table. Check the others too.

-In the method section, you can briefly explain how you measure your ground truth measurements. If you have any field survey, please add something about it.

-Line 369 "(figure 11(c))". The first letter must be capitalized.

It is understood that the results of your work, which you have carried out in a cost-effective way, are successful.

Comment and personal question: We can see your constraints in the results. Your readers will be able to consider the constraints you encounter in your study. A question comes to my mind. How will using a GIS-based generated/drawn/digitized road route instead of Google maps have an effect on this model? Because not all roads can be found on Google maps. In short, do you think the integration of this study with GIS is appropriate?

I wish you very success in your work.

Wishes,

Author Response

We thank the reviewer for the constructive comments. The response to the comments of reviewer-1 are as follows:

Thank you for your effort with this study. Curve finding is an approprate research interest for road engineering-related studies. Especially in autonomous driving and road safety. My general idea for your study is "This is currently supportive equipment for drivers". Please find below my minor comments, suggestions and question. Hope to improve your manuscript.

Thank you for the positive comments

-For the first use of abbreviations, write without the abbreviation. For example, see Line 57;83;85;108 et al. "MAE"!, "KPCA–BPNN and IPSO–BTGWP", "GNSS-RTK".

Ans: Abbreviation expansion added in line no. 56, 83 – 85, 109

You can use standard usage in your article by checking the spelling of "LiDAR" on Line 79;91.

Ans: The LiDAR is corrected in line no. 78 & 92.

There is enough literature in your study. Maybe you should look out newly investigated studies on horizontal curve estimation models. But it depends. Please check your references i.e., Line 645 "Lannelongue, L., Grealey, J., & Inouye, M. (2021)." (typing style).

Ans: style updated in line no. 676,677

Figures are given appropriately. But captions should be checked for typos. See Line 183. "Figure 3. proposed AGV."

Ans: first letter changed in capital in line no. 187

Table and figure citations must be use before the given table and figure in the manuscript. See Line 249. Description for the table (citation) can be seen after the table. Check the others too.

Ans: all citation of table and figure used before the table and figure. Updated in section 2.6 , 2.7, and 3.3

-In the method section, you can briefly explain how you measure your ground truth measurements. If you have any field survey, please add something about it.

Ans: new section Trajectory (path) creation (section 2.5) has added in manuscript

-Line 369 "(figure 11(c))". The first letter must be capitalized.

Ans: the first letter is now capitalized in line no. 408.

It is understood that the results of your work, which you have carried out in a cost-effective way, are successful.

Comment and personal question: We can see your constraints in the results. Your readers will be able to consider the constraints you encounter in your study. A question comes to my mind. How will using a GIS-based generated/drawn/digitized road route instead of Google maps have an effect on this model? Because not all roads can be found on Google maps. In short, do you think the integration of this study with GIS is appropriate?

Ans: Odometry Motion Model, Noise Model for Odometry, and Non-GPS location update has pre-pone to proposed curve finding algorithm section. The new section Trajectory (path) creation has added in between Non-GPS location update and Proposed curve finding algorithm section.

Reviewer 2 Report

Some explanation are not fully clear and can be improved:

Curve finding algorithm is reasonably explained but I miss the select waypoints method. Moreover, the way to calculate the radius seems clear, but it is not clear what happens when the radius is greater than 200 m and there are contiguous sections of that size that are not aligned.

The origin of the advantage in the accuracy of the trajectory tracking is not clear: it can influence the reduced value of the speed assigned to each radio. The comparison between accuracy and average speed for the different methods is not clear. Is the proposed method more accurate only when run at lower speed?

 

In addition, the text contains some formatting errors and typing mistakes:

Line 56: “AVG” seems to need changed by AGV.

Line 68 “Shed”, with. capital letter can be unnecessary

Line 197 “3feet” seems to need one space after “3”

Line 217 S1, S2, S3 seem to refer W1, W2, W3…

Line 325, "Type", with capital leter

Some equations, tables and figures exceed margins

 

Author Response

Curve finding algorithm is reasonably explained but I miss the select waypoints method. Moreover, the way to calculate the radius seems clear, but it is not clear what happens when the radius is greater than 200 m and there are contiguous sections of that size that are not aligned.

Ans: reason for selecting 200 meter is described in manuscript section 2.6 at line no 277 - 284

The origin of the advantage in the accuracy of the trajectory tracking is not clear: it can influence the reduced value of the speed assigned to each radio. The comparison between accuracy and average speed for the different methods is not clear. Is the proposed method more accurate only when run at lower speed?

 Ans: explanation provided in manuscript line no. 363 – 367, 379 – 384, 444 - 453

In addition, the text contains some formatting errors and typing mistakes:

Line 56: “AVG” seems to need changed by AGV.

Ans: corrected in manuscript at line no. 54 , 60

Line 68 “Shed”, with. capital letter can be unnecessary

Ans: corrected in manuscript at line no. 65

Line 197 “3feet” seems to need one space after “3”

Ans: corrected in manuscript at line no. 201

Line 217 S1, S2, S3 seem to refer W1, W2, W3…

Ans: corrected in manuscript at line no. 271

Line 325, "Type", with capital leter

Ans: corrected in manuscript at line no. 345, 350, 351, 352, 353, 355, 360

Some equations, tables and figures exceed margins

Ans: corrected in manuscript at page no. 16, 18

Reviewer 3 Report

The paper is methodologically correct with the use of adequate literature. The topic, which is analyzed in the paper, is current. The manuscript has its scientific and professional value. The paper can be published.

Author Response

The paper is methodologically correct with the use of adequate literature. The topic, which is analyzed in the paper, is current. The manuscript has its scientific and professional value. The paper can be published.

Ans: Thank you for your positive comments