This paper focuses on the trajectory planning and trajectory tracking control of articulated tracked vehicles (ATVs). It utilizes the path planning method based on the Hybrid A-star and the minimum snap smoothing method to obtain the feasible kinemat...
This article presents a hierarchical control framework for autonomous vehicle trajectory planning and tracking, addressing the challenge of accurately following high-speed, at-limit maneuvers. The proposed time-optimal trajectory planning and trackin...
Tracking the behavior trajectories in pigs in group is becoming increasingly important for welfare feeding. A novel method was proposed in this study to accurately track individual trajectories of pigs in group and analyze their behavior characterist...
Coal Mine Mobile Robots (CMRRs) are generally large in size and inertia, while narrow laneway space and bumpy terrain pose great challenges to CMRR’s planning and control. Aiming at the trajectory planning and tracking problems of CMRR, a new t...
The implementation of unmanned intelligent construction on the concrete surfaces of an airport effectively improves construction accuracy and reduces personnel investment. On the basis of three known common tracked vehicle dynamics models, reference...
Multi-object tracking (MOT) is an important research topic in the field of computer vision, including object detection and data association. However, problems such as missed detection and trajectory mismatch often lead to missing target information,...
Different from the vehicles and robots that move on the ground, complex and nonlinear track–wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. I...
Trajectory tracking control of input-constrained systems is an essential problem in many control applications, including robotics. In this paper, we propose a constrained tracking controller for input affine nonlinear systems with convex input constr...
To address the trajectory tracking issue of unmanned tracked vehicles, the majority of studies employ the Model Predictive Control (MPC). The MPC imposes high demands on model accuracy. Due to factors such as environmental interference, actuator cons...
Vehicle intelligence is an effective way to improve driving safety and comfort and reduce traffic accidents. The trajectory tracking control of unmanned vehicles is the core module of intelligent vehicles. As a redundant system, the X-by-wire electri...
The rapid development of smartphone sensors has provided rich indoor pedestrian trajectory data for indoor location-based applications. To improve the quality of these collected trajectory data, map matching methods are widely used to correct traject...
Trajectory tracking control is important in order to realize autonomous driving of mobile robots. From a control standpoint, trajectory tracking can be stated as the problem of stabilizing a tracking error system that describes both position and orie...
Trajectory tracking control of unmanned surface vessels (USVs) has become a popular topic. Regarding the problem of ship collision avoidance encountered in trajectory tracking, more attention needs to be paid to the algorithm application, namely the...
This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consi...
This paper proposes a clothoid-curve-based trajectory tracking control method for autonomous vehicles to solve the problem of tracking errors caused by the discontinuous curvature of the control curve calculated by the pure pursuit tracking algorithm...
This article summarizes the research significance and the development status of the unmanned ground tracked vehicles (UGTVs). According to the speed and steering principle of the UGTVs in plane motion, the kinematic state space equation of the vehicl...
In order to solve problems of poor stability and large trajectory-tracking errors when intelligent vehicles are travelling at different speeds, when working conditions that require obstacle avoidance are not taken into account in the trajectory-track...
In order to address the significant nonlinear dynamic characteristics and limited trajectory tracking accuracy of unmanned vehicles under cornering conditions, this paper proposes a trajectory tracking control strategy based on Adaptive Model Predict...
Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, fur...
This study proposes a receding horizon optimization-based docking control method to address the autonomy and safety challenge of underwater docking between manned submersibles and unmanned vehicles, facilitating the integration of docking trajectory...
Wheeled mobile robots (WMRs) are being increasingly integrated into various sectors such as logistics and transportation. However, their accurate trajectory tracking remains a challenge. To address this control issue, this study proposes a trajectory...
The design of intelligent vehicle trajectory tracking controllers still has some problems, such as parameter uncertainty and time consumption. To improve the tracking accuracy of the trajectory tracking controller and reduce its computational complex...
To ensure the accuracy and stability of intelligent-vehicle-trajectory tracking, a robust trajectory-tracking control strategy based on generalized Hamilton theory is proposed. Firstly, a dynamic Hamilton dissipative controller (DHDC) and trajectory-...
A simultaneous trajectory tracking and stability control method is present for the four-wheel independent drive (4WID) automated vehicles to handle dynamic coupling maneuvers. To conquer the disadvantage that attendant disturbances caused by the dyna...
To improve the accuracy and real-time performance of trajectory tracking control for a four-wheel differential drive intelligent sweeping vehicle, a trajectory tracking control method based on an adaptive strong tracking extended Kalman filter (ASTEK...
Multi-Object Tracking (MOT) aims to associate multiple objects across consecutive video sequences and maintain continuous and stable trajectories. Currently, much attention has been paid to data association problems, where many methods filter detecti...
Roboat is an autonomous surface vessel (ASV) for urban waterways, developed as a research project by the AMS Institute and MIT. The platform can provide numerous functions to a city, such as transport, dynamic infrastructure, and an autonomous waste...
This paper proposes a trajectory optimization approach for multi-sensor multi-target search and tracking using bearing-only sensors. Based on the framework of the joint integrated probabilistic data association (JIPDA) filter, the intensity of potent...
Tracking the trajectory of the load carried by the rotary crane is an important problem that allows reducing the possibility of its damage by hitting an obstacle in its working area. On the basis of the trajectory, it is also possible to determine an...
A new adaptive-like neural control strategy for motion reference trajectory tracking for a nonlinear electromagnetic suspension dynamic system is introduced. Artificial neural networks, differential flatness and sliding modes are strategically integr...
To improve the accuracy of tracking the trunk center-of-mass (CoM) trajectory and foot-end trajectory in a fully electrically driven quadruped robot, an efficient and practical new trajectory tracking control method is designed. The proposed trajecto...
This paper investigates the model-free trajectory tracking control problem for an autonomous underwater vehicle (AUV) subject to the ocean currents, external disturbances, measurement noise, model parameter uncertainty, initial tracking errors, and t...
Wheel loaders play a crucial role in daily production and transportation. With the rapid development of intelligence in passenger vehicles, freeing loader operators from high-risk and repetitive tasks has become a pressing issue. This paper presents...
This study introduces an innovative double closed-loop 3D trajectory tracking approach, integrating deep neural networks (DNN) with event-triggered nonlinear model predictive control (ENMPC), specifically designed for remotely operated vehicles (ROVs...
To address trajectory tracking of cable-driven continuum robots (CDCRs) in the presence of obstacles, this paper proposes an integrated control framework that combines online trajectory replanning, obstacle avoidance, and tracking control. The contro...
To resolve the problem of high-precision trajectory tracking control under interference conditions in a missile’s mid-guidance phase, according to the constructed nominal trajectory, an improved adaptive high-order sliding mode trajectory track...
To improve the automation accuracy and efficiency of the loader working device, this paper proposes a control strategy based on an adaptive backstepping algorithm to address the trajectory tracking control problem under strong nonlinearity, parameter...
This paper addresses the issue of safe trajectory tracking for robotic manipulators operating in confined spaces that often exhibit asymmetric geometric structures, such as narrow passages or cluttered obstacle fields. We introduce an innovative mode...
Intelligent vehicle trajectory tracking exhibits problems such as low adaptability, low tracking accuracy, and poor robustness in complex driving environments with uncertain road conditions. Therefore, an improved method of adaptive model predictive...
Trajectory tracking is a critical component of autonomous driving and robotic motion control. This paper proposes a novel robust finite impulse response (FIR) filter for linear time-invariant systems, aimed at enhancing the accuracy and robustness of...
A walking trajectory tracking control approach for a walking electrohydraulic control system is developed to reduce the walking trajectory tracking deviation and enhance robustness. The model uncertainties are estimated by a designed state observer....
A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude trackin...
Autonomous vehicle trajectory tracking control is one of the hot topics in the autonomous driving field. One of the most widely used control methods is MPC (Model Predictive Control). As the control system generally becomes more nonlinear and complex...
This paper presents an obstacle-avoidance trajectory tracking method based on a nonlinear model prediction, with a dynamic environment considered in the trajectory tracking of nonholonomic mobile robots for obstacle avoidance. In this method, collisi...
In order to achieve the complicated trajectory tracking of quadrotor, a geometric inner and outer loop control scheme is presented. The outer loop generates the desired rotation matrix for the inner loop. To improve the response speed and robustness,...
This research presents a nonlinear adaptive optimal control approach to the trajectory tracking problem of a swarm of autonomous mobile robots. Mathematically, finding an analytical adaptive control solution that meets the H2 performance index for th...
In the field of automated technology research and development, trajectory tracking plays a crucial role in the energy consumption of the vehicle’s power battery. Reducing the deviation between the actual trajectory and the reference trajectory is the...
In order to better meet the practical application needs of mobile robots, this study innovatively designs an autonomous obstacle avoidance and trajectory planning control strategy with low computational complexity, high cost-effectiveness, and the ab...
The trajectory-tracking capability of autonomous mining trucks is critical for accomplishing transportation tasks efficiently. However, due to the diverse road surfaces and rugged terrains in open-pit mines, the existing vehicle dynamics models strug...
To address the common issues of accuracy and stability in trajectory tracking tasks for autonomous vehicles, this study proposes an innovative composite control strategy that skillfully integrates lateral and longitudinal dynamic control. For lateral...
of 72