{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,29]],"date-time":"2024-08-29T11:09:45Z","timestamp":1724929785297},"reference-count":21,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2022,3,4]],"date-time":"2022-03-04T00:00:00Z","timestamp":1646352000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2022,6,30]]},"abstract":"\nPurpose<\/jats:title>\nIn path tracking, pure pursuit (PP) has great superiority due to its simple control. However, when in agricultural applications, the performance and accuracy of PP are not so well; it cannot be tracked in time has slow convergence, and low tracking accuracy. Furthermore, in some severe driving scenarios, PP is insufficient to convey the effects of the tracking error. This paper aims to propose an autonomous driving controller to improve the PP model based on heading error rate (Improved PP-improved search strategy ant colony optimization [ISSACO]).<\/jats:p>\n<\/jats:sec>\n\nDesign\/methodology\/approach<\/jats:title>\nFirst, the heading error rate is added as the control method in the PP model. Second, the predicted heading error was selected as the objective function; the ISSACO is used to obtain the minimum value of the predicted heading error. A PP controller is integrated with the heading error rate by ISSACO to better deal with tracking error by trading off between PP and heading error rate. Third, the ISSACO was used to obtain the optimal values of PP and heading error rate weight. Finally, the error feedback adaptive dynamic adjustment of the improved algorithm is realized to reduce the convergence time and tracking error.<\/jats:p>\n<\/jats:sec>\n\nFindings<\/jats:title>\nThe proposed method was tested on a four-wheeled vehicle robot, and the effectiveness of its convergence was proved. Experiments show that the proposed method can effectively reduce the tracking error, increase convergence, then improve the robot\u2019s working quality.<\/jats:p>\n<\/jats:sec>\n\nOriginality\/value<\/jats:title>\nAn adaptive improved PP path tracking control is proposed, which considers both heading error rate and parameter uncertainties. The new autonomous controller has a simple structure and is easy to implement. It can be adjusted according to the path tracking status to improve the adaptability of the system.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2021-0257","type":"journal-article","created":{"date-parts":[[2022,3,2]],"date-time":"2022-03-02T09:28:28Z","timestamp":1646213308000},"page":"973-980","source":"Crossref","is-referenced-by-count":7,"title":["An improved pure pursuit path tracking control method based on heading error rate"],"prefix":"10.1108","volume":"49","author":[{"given":"Lihui","family":"Wang","sequence":"first","affiliation":[]},{"given":"ZongLiang","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Wenxing","family":"Zhu","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2022,3,4]]},"reference":[{"issue":"6","key":"key2022062914060164500_ref001","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/1729881420974852","article-title":"A path-tracking algorithm using predictive Stanley lateral controller","volume":"17","year":"2020","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"12","key":"key2022062914060164500_ref002","doi-asserted-by":"publisher","first-page":"3702","DOI":"10.1007\/s11771-020-4561-1","article-title":"MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel","volume":"27","year":"2020","journal-title":"Journal of Central South University"},{"issue":"3","key":"key2022062914060164500_ref003","doi-asserted-by":"publisher","first-page":"619","DOI":"10.1177\/1077546316646906","article-title":"Receding horizon lateral vehicle control for pure pursuit path tracking","volume":"24","year":"2018","journal-title":"Journal of Vibration and Control"},{"issue":"2","key":"key2022062914060164500_ref004","doi-asserted-by":"publisher","first-page":"806","DOI":"10.1109\/tmech.2015.2492984","article-title":"Robust trajectory tracking error model-based predictive control for unmanned ground vehicles","volume":"21","year":"2015","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"3","key":"key2022062914060164500_ref005","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s40430-020-02767\u22128","article-title":"A combined backstepping and adaptive fuzzy PID approach for trajectory tracking of autonomous mobile robots","volume":"43","year":"2021","journal-title":"Journal of the Brazilian Society of Mechanical Sciences and Engineering"},{"issue":"3","key":"key2022062914060164500_ref006","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1080\/02533839.2015.1091276","article-title":"Nonlinear predictive control of a mobile robot: a solution using metaheuristcs","volume":"39","year":"2016","journal-title":"Journal of the Chinese Institute of Engineers"},{"issue":"1","key":"key2022062914060164500_ref007","doi-asserted-by":"publisher","first-page":"1010","DOI":"10.1088\/1748-0221\/15\/01\/p01025","article-title":"An improved path-tracking controller with mid-angle adaptive calibration for combine harvester","volume":"15","year":"2020","journal-title":"Journal of Instrumentation"},{"key":"key2022062914060164500_ref008","doi-asserted-by":"publisher","first-page":"4239","DOI":"10.1109\/cac48633.2019.8997258","article-title":"Path tracking control of wheeled mobile robot based on improved pure pursuit algorithm","year":"2019","journal-title":"2019 Chinese Automation Congress (CAC). IEEE"},{"key":"key2022062914060164500_ref009","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1117\/12.299554","article-title":"Evaluating a PID, pure pursuit, and weighted steering controller for an autonomous land vehicle","volume":"3210","year":"1998","journal-title":"Mobile Robots XII, International Society for Optics and Photonics"},{"issue":"9","key":"key2022062914060164500_ref010","doi-asserted-by":"publisher","first-page":"122","DOI":"10.5772\/61391","article-title":"CF-pursuit: a pursuit method with a clothoid fitting and a fuzzy controller for autonomous vehicles","volume":"12","year":"2015","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"key2022062914060164500_ref011","doi-asserted-by":"publisher","first-page":"161064","DOI":"10.1109\/access.2019.2944894","article-title":"Path tracking control for autonomous vehicles based on an improved MPC","volume":"7","year":"2019","journal-title":"IEEE Access"},{"key":"key2022062914060164500_ref012","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.conengprac.2016.02.003","article-title":"Reference trajectory tuning of model predictive control","volume":"50","year":"2016","journal-title":"Control Engineering Practice"},{"issue":"1","key":"key2022062914060164500_ref013","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/app10010230","article-title":"Driverless bus path tracking based on fuzzy pure pursuit control with a front axle reference","volume":"10","year":"2020","journal-title":"Applied Sciences"},{"key":"key2022062914060164500_ref014","volume-title":"Trajectory Tracking Algorithm for Autonomous Ground Vehicle","year":"2015"},{"issue":"2","key":"key2022062914060164500_ref015","doi-asserted-by":"publisher","first-page":"34","DOI":"10.5772\/51314","article-title":"Design of a control system for an autonomous vehicle based on adaptive-pid","volume":"9","year":"2012","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"4","key":"key2022062914060164500_ref016","doi-asserted-by":"publisher","first-page":"708","DOI":"10.14107\/j.cnki.kzgc.170776","article-title":"Design of LQR-PID optimal equilibrium and path tracking controller based on two-wheeled self-balancing vehicle","volume":"27","year":"2020","journal-title":"Control Engineering of China"},{"issue":"2\/3","key":"key2022062914060164500_ref017","doi-asserted-by":"publisher","first-page":"541","DOI":"10.1177\/0954407020954591","article-title":"Deep reinforcement learning based path tracking controller for autonomous vehicle","volume":"235","year":"2021","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering"},{"key":"key2022062914060164500_ref018","doi-asserted-by":"publisher","first-page":"116704","DOI":"10.1109\/access.2020.3004025","article-title":"Design and control of magnetic levitation system by optimizing fractional order PID controller using ant colony optimization algorithm","volume":"8","year":"2020","journal-title":"IEEE Access"},{"issue":"8","key":"key2022062914060164500_ref019","doi-asserted-by":"publisher","first-page":"8339","DOI":"10.1007\/s12652-020-02566-y","article-title":"Improved ant colony optimization for achieving self-balancing and position control for balancer systems","volume":"12","year":"2020","journal-title":"Journal of Ambient Intelligence and Humanized Computing"},{"issue":"7","key":"key2022062914060164500_ref020","doi-asserted-by":"publisher","first-page":"5131","DOI":"10.1007\/s00500-020-05515-1","article-title":"Optimization of stability of humanoid robot NAO using ant colony optimization tuned MPC controller for uneven path","volume":"25","year":"2021","journal-title":"Soft Computing"},{"key":"key2022062914060164500_ref021","doi-asserted-by":"publisher","first-page":"2154","DOI":"10.23919\/acc.2004.138378","article-title":"A new PID tuning technique using ant algorithm","year":"2004"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2021-0257\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2021-0257\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,29]],"date-time":"2022-06-29T14:19:20Z","timestamp":1656512360000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2021-0257\/full\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,4]]},"references-count":21,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,3,4]]},"published-print":{"date-parts":[[2022,6,30]]}},"alternative-id":["10.1108\/IR-11-2021-0257"],"URL":"https:\/\/doi.org\/10.1108\/ir-11-2021-0257","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2022,3,4]]}}}