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Improved Trajectory Tracking for Car-Like Mobile Robots

Improved Trajectory Tracking for Car-Like Mobile Robots
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Muhammad Osama , Susha Cheriyedath , Muhammad Osamamay , Research Findings , Trajectory Tracking , Car Like Mobile Robots , Improved Trajectory Tracking , Car Like Mobile , Tracking Control , Car Like Mobile Robots Based , Extended State Observer ,

"Trajectory planning, dynamics modelling and trajectory tracking method" by Boyuan Li, Bangji Zhang et al.

The road topography can significantly affect the tyre vertical load and the vehicle dynamics response in off-road scenarios, which will greatly impact the autonomous vehicle's stability, trajectory planning and trajectory tracking performance. However, the road topography information is less focused in current literature. This study focuses on the local trajectory planning and tracking method by assuming waypoints along the global route are already available. First an innovative spatiotemporal-based local trajectory planning algorithm is proposed to select the desired trajectory with minimum road gradient and bank angle. After that, a 8 degrees-of-freedom (DOF) vehicle dynamics model is proposed to better present the dynamics performance. Finally a double-layer control strategy for trajectory tracking is designed to follow the desired planned trajectory. It is proved by simulations results that the peak bank angle and road gradient could be avoided, and the trajectory tracking per ....

Autonomous Vehicle , Bank Angle , Dynamics Model , Off Road , Oad Slope , Oad Topography , Trajectory Planning , Trajectory Tracking ,

"Multi-Objective Comprehensive Control of Trajectory Tracking for Four-" by Hongbo Wang, Chenglei Hu et al.

Abstract For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control targets are divided into the kinematic control target considering the trajectory tracking accuracy and the dynamics control target considering longitudinal speed tracking as well as lateral stability performance. The generalized H {2 norm and H {∞ norm are selected to constrain the kinematic control target and the dynamics control target respectively. The generalized H {2}/H {∞ trajectory tr ....

Takagi Sugeno , Differential Steering , Our In Wheel Motor Drive Vehicle , Ulti Objective Control , S Fuzzy , Trajectory Tracking ,

"Adaptive Neural Output Feedback Control for MSVs with Predefined Perfo" by Guibing Zhu, Yong Ma et al.

Abstract
In this paper, we investigate the problem of trajectory tracking control for marine surface vehicles (MSVs), which is subject to dynamic uncertainties, external disturbances and unmeasurable velocities. To recover the unmeasurable velocities, a novel adaptive neural network (NN) state observer is constructed. To guarantee the transient and steady-state tracking performance, a novel nonlinear transformation method is proposed by employing a tracking error transformation together with a newly constructed performance function, which is featured by user-defined settling time and tracking control accuracy. With the aid of the state observer and the nonlinear transformation method, with the combination of the adaptive NN technique and vector-backstepping design tool, an adaptive neural output feedback trajectory tracking control scheme with predefined performance is developed Referring to our developed control scheme, uncertainties can be reconstructed only by utilizing the ....

Adaptive Neural Network , Adaptive Systems , Rtificial Neural Networks , Arine Surface Vehicle , Output Feedback , Redefined Performance , Trajectory Tracking , Ransient Analysis , Vehicle Dynamics ,

CNN CNN Newsroom With Brooke Baldwin December 29, 2014 20:48:00

It takes months sometimes years before we get to the bottom of things and sometimes like you mentioned at the outset there might be a lot that we just never find out. let s get to another question. tom tweets i m confused with all the electronics available as to why they don t have a location pinpointed now within a few square miles. well that s a great question. and there is equipment on board the airplane that should have given trajectory tracking even primary radar. you think of all the passenger cell phones. cell phone would not have worked at that altitude. but the problem is you are at such a high altitude the airplane is still moving. if it did get upset by some form of turbulence it s going to be it can be almost anywhere and it s a big area. even though we say it s mauler than when malaysia 370 disappear it s still a big area. phil wanted to know if we have satellites in space that can read license pilates on cars ....

Tom Foreman , Trajectory Tracking , Passenger Cell Phones , Cell Phone , License Pilates ,