Ribbon model based path tracking method for autonomous ground vehicles

2014 ◽  
Vol 21 (5) ◽  
pp. 1816-1826 ◽  
Author(s):  
Qing-yang Chen ◽  
Zhen-ping Sun ◽  
Da-xue Liu ◽  
Xiao-hui Li
Keyword(s):  
Path Tracking ◽  
Ground Vehicles ◽  
Tracking Method ◽  
Autonomous Ground Vehicles ◽  
Model Based ◽  
Path Tracking Method

scholarly journals Near Time-Optimal Path Tracking Method for Waiter Motion Problem

2017 ◽  
Vol 50 (1) ◽  
pp. 4929-4934 ◽  
Author(s):  
Gábor Csorvási ◽  
Ákos Nagy ◽  
István Vajk
Keyword(s):  
Optimal Path ◽  
Path Tracking ◽  
Tracking Method ◽  
Time Optimal ◽  
Motion Problem ◽  
Path Tracking Method

scholarly journals Research on Displacement Mode and Path Tracking Method of Square Combined Deployable Mechanism

2019 ◽  
Vol 37 (6) ◽  
pp. 1200-1208
Author(s):  
Jianfeng Li ◽  
Sanmin Wang ◽  
Qi'an Peng ◽  
Fei Li
Keyword(s):  
Bifurcation Point ◽  
Screw Theory ◽  
Path Tracking ◽  
Singular Value ◽  
Motion Path ◽  
Tracking Method ◽  
Bifurcation Phenomenon ◽  
Displacement Mode ◽  
Value Decomposition ◽  
Path Tracking Method

The motion path of the developable mechanism can not only grasp whether the mechanism can move according to the expected law, but also provide theoretical support for motion control. In order to accurately study the kinematics of the square combined mechanism, the mobility of the square combined expandable mechanism is analyzed based on the screw theory and the graph theory. Then, the balance matrix of the square combined expandable mechanism is derived, and the displacement mode of the square combined expandable mechanism is obtained through singular value decomposition. Secondly, the path tracking method of the square combined expandable mechanism is established by the iteration of the displacement mode. Finally, by means of the example analysis, the position of the bifurcation point of the square combined expandable mechanism is determined; the variation law of the bifurcation point and its positive correlation with the singular value of the balance matrix is analyzed. It is found that adding additional constraints and planning a reasonable path can avoid bifurcation phenomenon. This research provides necessary reference data for configuration design and parameter optimization of the square combined expandable mechanism.

A practical path tracking method for autonomous underwater gilders using iterative algorithm

2015 ◽  
Author(s):  
Yan Huang ◽  
Jiancheng Yu ◽  
Wentao Zhao ◽  
Wenming Jin ◽  
Yeteng Luo ◽  
...  
Keyword(s):  
Iterative Algorithm ◽  
Path Tracking ◽  
Tracking Method ◽  
Path Tracking Method
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