The path following is the automatic control of the mobile robot along the specified path without human interference. The proposed path following applies for the robot navigation in unknown environments, where the robot has no preliminary information about obstacles. This paper presents an innovative idea for the path following control that is to integrate the basic path following control with t...

In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...

It is often desirable to control an automated vehicle to follow a predetermined trajectory, be it a road, a path to avoid obstacles, or a flight plan to avoid interference with other aircraft. Traditional approaches to this problem have valued closed form solutions to keep computational time low. As a result, these controllers have required not only a desired trajectory, but also a set of contr...

Aiming at the problem that the traditional control methods can’t satisfactorily complete the trajectory tracking task, so a multi point preview control method based on automobile driving is designed for the motion control of four-wheel drive omni-directional mobile robot. Lateral position error and curvature of each preview point are calculated based on the robot’s lateral position error model....

This article presents a robust control scheme for the trajectory tracking problem of three-degree-of-freedom helicopter with prescribed transient and steady-state performance. The design does not employ any information regarding dynamics system. In addition, response system respect to given time-varying is <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/199...

This paper is devoted to the problem of prescribed performance trajectory tracking control for symmetrical underactuated unmanned surface vessels (USVs) in presence model uncertainties and input quantization. By combining backstepping filter mechanisms adaptive algorithms, two robust architectures are investigated surge motion yaw motion. To guarantee prespecified requirements position control,...

In this paper we focus on solving a path following problem and keeping a geometrical formation. The problem of formation control is divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path, while each follower agent tracks a trajectory, estimated by using the leader’s information. In this paper, we exploit nonlinear model predictive co...

there have been a number of developments in screw design and implantation techniques over recent years, including proposal of an alternative trajectory entitled as cortical bone trajectory (cbt). cortical bone trajectory has been investigated in recent medical treatments as an alternative for screw fixation aimed at increasing purchase of pedicle screws in higher density bone. cbt screw inserti...

We present two practical path planning algorithms based on Bezier curves for autonomous vehicles operating under waypoints and corridor constraints. Bezier curves have useful properties for the trajectory generation problem. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms generate t...