Journal of Field Robotics最新文献

{"title":"Real-Time Heading Correction Control for Mars Rovers Considering Travel Terrain Differences Between Two Sides of the Suspension","authors":"Zhicheng Jia,&nbsp;Jingfu Jin,&nbsp;Xinju Dong,&nbsp;Meng Zou,&nbsp;Lianbin He","doi":"10.1002/rob.22446","DOIUrl":"https://doi.org/10.1002/rob.22446","url":null,"abstract":"<div>\u0000 \u0000 <p>Existing Mars rovers usually adopt a split suspension with a rocker-bogie on each side of the body to improve terrain adaptability. However, when exploring the Martian surface with complex terrain distribution, differential traveling conditions of the wheel sets on both sides can cause the Mars rover to deviate from its desired heading. This paper presents a coordinated wheel speed control method for Mars rovers that combines fuzzy control with active disturbance rejection control. This method can realize real-time heading correction while compensating for the effects of differences in terrain shape and terrain type on both sides. Another advantage of the proposed method is that the control system does not rely on the motion model of the Mars rover's suspension and avoids real-time acquisition of suspension attitude data, which improves the algorithm efficiency and portability. Finally, a series of experimental tests of multiterrain travel were conducted on a six-wheeled Mars rover prototype deploying the control system. The experimental results show that the control system can effectively guarantee that the Mars rover tracks the desired heading while traveling, and can obtain beneficial effects in reducing the internal force between the wheels and facing some special driving scenes.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1209-1225"},"PeriodicalIF":4.2,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143949799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evaluation of Two Tension Sensors for Cable-Driven Parallel Manipulators","authors":"Angel G. Gonzalez-Rodriguez,&nbsp;Erika Ottaviano,&nbsp;Pierluigi Rea","doi":"10.1002/rob.22445","DOIUrl":"https://doi.org/10.1002/rob.22445","url":null,"abstract":"<p>Cable-driven parallel manipulators (CDPMs) constitute a class of parallel robots in which the frame is connected to the end-effector through a set of cables. The weight reduction achieved by replacing rigid links with cables, along with their exceptionally large workspace, makes CDPMs suitable for applications such as positioning devices, large surface inspection, motion support systems, and automated storage systems. For effective use in these applications, accurate positioning capabilities are essential, which in turn require accurate measurements of the tension on each cable, and at a sampling rate that is less than or equal to the time constant of the actuator response. This paper first analyses the dynamics of the actuator for an over-constrained robot and provides concrete values of this constant considering the cable elasticity. Then, it proposes two tension sensors, presents the calibration procedures, and the methodologies to evaluate them in CDPMs so that they can be replicated and subsequently included in another CDPM configuration. They also serve as critical safety devices, continuously monitoring cable tension to detect any operations or situations that are out of range. Ensuring the safe and reliable condition of cables is crucial not only for CDPMs but also for lifting systems, transmission systems, and other mechanical or mechatronic systems that rely on cables.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1191-1208"},"PeriodicalIF":4.2,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22445","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143949798","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Active Sensing Strategy: Multi-Modal, Multi-Robot Source Localization and Mapping in Real-World Settings With Fixed One-Way Switching","authors":"Vu Phi Tran,&nbsp;Asanka G. Perera,&nbsp;Matthew A. Garratt,&nbsp;Kathryn Kasmarik,&nbsp;Sreenatha G. Anavatti","doi":"10.1002/rob.22441","DOIUrl":"https://doi.org/10.1002/rob.22441","url":null,"abstract":"<p>This paper introduces a state-machine model designed for a multi-modal, multi-robot environmental sensing algorithm tailored to dynamic real-world settings. The multi-modal algorithm uniquely combines two distinct exploration strategies for gas source localization and mapping tasks: (1) an initial exploration phase using multi-robot coverage path planning with variable formations, providing early gas field indication; and (2) a subsequent active sensing phase employing multi-robot swarms for precise field estimation. The state machine provides the logic for the transition between these two sensing algorithms. In the exploration phase, a coverage path is generated, maximizing the visited area while measuring gas concentration and estimating the initial gas field at pre-defined sample times. Subsequently, in the active sensing phase, mobile robots moving in a swarm collaborate to select the next measurement point by broadcasting potential positions and reward values, ensuring coordinated and efficient sensing for a multi-robot swarm system. System validation involves hardware-in-the-loop experiments and real-time experiments with a radio source emulating a gas field. The proposed approach is rigorously benchmarked against state-of-the-art single-mode active sensing and gas source localization techniques. The comprehensive evaluation highlights the multi-modal switching approach's capacity to expedite convergence, adeptly navigate obstacles in dynamic environments, and significantly enhance the accuracy of gas source location predictions. These findings highlight the effectiveness of our approach, showing significant improvements: a 43% reduction in turnaround time, a 50% increase in estimation accuracy, and enhanced robustness of multi-robot environmental sensing in cluttered scenarios without collisions. These advancements surpass the performance of conventional active sensing strategies, the partial differential equation model, and geometrical localization approaches, underscoring the efficacy of our method.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1166-1190"},"PeriodicalIF":4.2,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22441","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143949877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Toward a Track-Fin Hybrid Driven Bionic Amphibious Robot: Design, Development, and Experiments","authors":"Minghai Xia,&nbsp;Qian Yin,&nbsp;Qunwei Zhu,&nbsp;Haisen Zeng,&nbsp;Zhongyue Lu,&nbsp;Zirong Luo","doi":"10.1002/rob.22443","DOIUrl":"https://doi.org/10.1002/rob.22443","url":null,"abstract":"<div>\u0000 \u0000 <p>Amphibious robots offer promising applications in field scenarios such as search and rescue, exploration and reconnaissance, and environment monitoring. However, achieving high locomotion performance in terrestrial, aquatic, and soft muddy transition areas remains challenging. This study presents a novel amphibious robot based on the hybrid drive of tracks and bionic fins. The robot is driven by a pair of tracks on land and by a pair of undulating fins underwater, without the need for switching operating modes due to the simultaneous drive of the two components. The structure design is introduced and the united operating strategies are derived for propulsion in multiple environments propulsion. A land–water united controller for the heading angle and track/fin frequency is designed based on a mathematical model. In field experiments, the robot achieved the maximum linear velocities of 2 m/s on land and 0.51 m/s underwater, with maximum yaw rates of 225 <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mmultiscripts>\u0000 <mo>/</mo>\u0000 <none></none>\u0000 <none></none>\u0000 <mprescripts></mprescripts>\u0000 <none></none>\u0000 \u0000 <mo>∘</mo>\u0000 </mmultiscripts>\u0000 \u0000 <mi>s</mi>\u0000 </mrow>\u0000 </mrow>\u0000 </semantics></math> and 100 <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mmultiscripts>\u0000 <mo>/</mo>\u0000 <none></none>\u0000 <none></none>\u0000 <mprescripts></mprescripts>\u0000 <none></none>\u0000 \u0000 <mo>∘</mo>\u0000 </mmultiscripts>\u0000 \u0000 <mi>s</mi>\u0000 </mrow>\u0000 </mrow>\u0000 </semantics></math>, respectively. The robot could transition seamlessly between land and water in less than 2 s. The closed-loop control experiments demonstrated that the robot could quickly follow the desired angle with minimal error in both media using the same controller and parameters. The proposed simultaneous drive method enhances the multi-terrain motion capacity and cross-medium performance while reducing control complexity of amphibious robot, providing a new perspective for the development of self-adaptive and high-performance amphibious robots for practical application.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1143-1165"},"PeriodicalIF":4.2,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Effectiveness of an Expendable Unmanned Ground Vehicle Stalling a Mechanized Infantry Company's Primary Combat Units—A Virtual Simulation Experiment","authors":"Christian A. Andersson,&nbsp;Kasper Halme,&nbsp;Mia Laine,&nbsp;Ville Hulkko,&nbsp;Kai Virtanen","doi":"10.1002/rob.22442","DOIUrl":"https://doi.org/10.1002/rob.22442","url":null,"abstract":"<p>Technological advancements have spurred the development of unmanned ground vehicles (UGVs) and their innovative military applications and strategies. Such applications include expendable UGVs. However, public research concerning expendable military UGVs remains sparse. Particularly, the unclassified literature does not contain studies regarding their capabilities and effectiveness in combat. This study introduces a new low-cost expendable UGV called Laykka. Moreover, the study presents a virtual simulation experiment to evaluate Laykkas' operational capabilities and their impact on advancing mechanized infantry units. The experiment involved armored reserve officer students assuming the roles of infantry troops forming an attacking opposing force while staff officers controlled simulated infantry troops operating the UGVs. A total of 16 battle simulations were fought. The simulated UGVs operated by a single soldier were able to stall the advancement of the mechanized infantry company's primary combat units three times out of four and a smaller force 11 out of 12 times. The best stalling effect was observed using a mix of UGVs with different module types. These modules allowed reconnaissance, loitering mine, and anti-tank operations. The simulation experiment revealed that the UGV was an effective defensive tool due to its self-destructive capability, causing marked battle damage, disruption, and confusion to the opposing forces.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1125-1142"},"PeriodicalIF":4.2,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22442","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Firefighting Robot Extinguishment Decision-Making Based on Visual Guidance: A Novel Attention and Scale U-Net Model and Genetic Algorithm","authors":"Juxian Zhao,&nbsp;Wei Li,&nbsp;Jinsong Zhu,&nbsp;Zhigang Gao,&nbsp;Lu Pan,&nbsp;Zhongguan Liu","doi":"10.1002/rob.22438","DOIUrl":"https://doi.org/10.1002/rob.22438","url":null,"abstract":"<div>\u0000 \u0000 <p>At present, rescue firefighting relies mainly on firefighting robots, and robots with perception and decision-making functions are the key elements for achieving intelligent firefighting. However, traditional firefighting robots often lack the ability for autonomous perception and decision-making when extinguishing multiple fire sources, leading to low rescue efficiency and increased risk for rescue personnel, especially when making firefighting decisions in extreme fire scenes, which poses a challenge. To effectively handle firefighting tasks and ensure operational efficiency, a robot firefighting decision-making method based on drone visual guidance is proposed. First, we introduce a novel Attention and Scale U-Net (ASUNet) model to accurately capture crucial target information, including fire location and size, in a fire scene. The ASUNet model adopts an effective multiscale fusion strategy and attention mechanism to enhance the model's performance. Subsequently, based on the results of the ASUNet model, through pixel segmentation clustering and a genetic optimization algorithm, we obtain the robot's firefighting decision results, thereby guiding the robot to carry out firefighting operations systematically. Finally, through numerical experiments, it is verified that the proposed ASUNet model is superior and effective, as the model can perceive important information in a fire scene and extract it well. The use of improved genetic optimization can further accelerate algorithm convergence. To our knowledge, this study is the first to use drone-based monocular vision guidance for firefighting decision-making, providing significant engineering value.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1103-1124"},"PeriodicalIF":4.2,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The SG-Climbot: An Adaptable, Efficient, Inspection and Repair Robot for Steam Generator Heat Transfer Tube Sheet","authors":"Zhaojin Liu,&nbsp;Jiawei Li,&nbsp;Jian Chen,&nbsp;Sicen Li,&nbsp;Xin Gu,&nbsp;Jikai Jiang,&nbsp;Yuxiao Li,&nbsp;Shaoming Yao,&nbsp;Gang Wang","doi":"10.1002/rob.22436","DOIUrl":"https://doi.org/10.1002/rob.22436","url":null,"abstract":"<p>The steam generator plays a crucial role as a safety component and protective barrier in nuclear power plants. Regular inspection and repair of heat transfer tubes, which operate in high-temperature, high-pressure, corrosive, and abrasive environments for extended periods, are essential. Inspection and repair robots move inside the steam generator to conduct comprehensive inspections and evaluations of the heat transfer tubes. However, existing robots have relatively simple execution devices and fixed movement methods, resulting in poor adaptability to different specifications of tube sheets and limited flexibility in handling maintenance tasks. In response to these limitations, the SG-Climbot, a quadruped crawling tube sheet inspection and repair robot, has been proposed. This robot is designed to adapt to full-specification tube sheets and operate efficiently by conducting inspections while moving. By comparing different motion modes, a robot configuration with a quadruped parallel structure was suggested. Kinematic and static analyses were conducted, resulting in the development of both forward and inverse kinematic models, along with the identification of conditions leading to tipping. Using parametric modeling and optimization design, optimized design parameters were obtained. Finite element simulation analysis was performed on the overall structure and main components, leading to an optimized structural model. Finally, based on the design model and computational analysis, a prototype was developed and tested. The experimental results indicate that the robot has achieved the expected functionality and performance targets. Its efficient maintenance operation mode of conducting inspections while moving provides a basis for the autonomous and intelligent development of steam generators.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1080-1102"},"PeriodicalIF":4.2,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22436","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"ForzaETH Race Stack—Scaled Autonomous Head-to-Head Racing on Fully Commercial Off-the-Shelf Hardware","authors":"Nicolas Baumann,&nbsp;Edoardo Ghignone,&nbsp;Jonas Kühne,&nbsp;Niklas Bastuck,&nbsp;Jonathan Becker,&nbsp;Nadine Imholz,&nbsp;Tobias Kränzlin,&nbsp;Tian Yi Lim,&nbsp;Michael Lötscher,&nbsp;Luca Schwarzenbach,&nbsp;Luca Tognoni,&nbsp;Christian Vogt,&nbsp;Andrea Carron,&nbsp;Michele Magno","doi":"10.1002/rob.22429","DOIUrl":"10.1002/rob.22429","url":null,"abstract":"<div>\u0000 \u0000 <p>Autonomous racing in robotics combines high-speed dynamics with the necessity for reliability and real-time decision-making. While such racing pushes software and hardware to their limits, many existing full-system solutions necessitate complex, custom hardware and software, and usually focus on Time-TrIals rather than full unrestricted Head-to-head racing, due to financial and safety constraints. This limits their reproducibility, making advancements and replication feasible mostly for well-resourced laboratories with comprehensive expertise in mechanical, electrical, and robotics fields. Researchers interested in the autonomy domain but with only partial experience in one of these fields, need to spend significant time with familiarization and integration. The ForzaETH Race Stack addresses this gap by providing an autonomous racing software platform designed for F1TENTH, a 1:10 scaled Head-to-Head autonomous racing competition, which simplifies replication by using commercial off-the-shelf hardware. This approach enhances the competitive aspect of autonomous racing and provides an accessible platform for research and development in the field. The ForzaETH Race Stack is designed with modularity and operational ease of use in mind, allowing customization and adaptability to various environmental conditions, such as track friction and layout, which is exemplified by the various modularly implemented state estimation and control systems. Capable of handling both Time-Trials and Head-to-Head racing, the stack has demonstrated its effectiveness, robustness, and adaptability in the field by winning the official F1TENTH international competition multiple times. Furthermore, the stack demonstrated its reliability and performance at unprecedented scales, up to over <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mn>10</mn>\u0000 <mspace></mspace>\u0000 \u0000 <msup>\u0000 <mstyle>\u0000 <mspace></mspace>\u0000 \u0000 <mtext>m s</mtext>\u0000 <mspace></mspace>\u0000 </mstyle>\u0000 \u0000 <mrow>\u0000 <mo>−</mo>\u0000 \u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msup>\u0000 </mrow>\u0000 </mrow>\u0000 </semantics></math> on tracks up to 150 m in length.</p></div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1037-1079"},"PeriodicalIF":4.2,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142254401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Progress and Perspective of Seafloor Regolith-Sampling Robots for Ocean Exploration","authors":"Jiabin Liu,&nbsp;Minhui Ye,&nbsp;Haifei Zhu,&nbsp;Yisheng Guan,&nbsp;Tao Zhang","doi":"10.1002/rob.22433","DOIUrl":"https://doi.org/10.1002/rob.22433","url":null,"abstract":"<div>\u0000 \u0000 <p>Seafloor exploration has significantly enriched our understanding of the marine environment, climate change, and the evolution of Earth. Seafloor sampling tools are instrumental in acquiring regolith samples for various investigations, including geological surveys and resource exploration. Detailed analysis of collected samples can uncover further hidden mysteries of the ocean. Over the past few decades, numerous research institutions have dedicated efforts to developing efficient seafloor regolith-sampling robots (SRSRs). This paper provides a comprehensive overview of the progress and perspectives on SRSRs. First, the paper introduces the particularities of seafloor regolith sampling, including operation characteristics and sampling requirements. Second, current SRSRs are classified into seven categories based on different sampling methods, and their general characteristics are summarized. Subsequently, representative seafloor drilling and sampling robots (SDSRs) from around the world are introduced, with a focus on comparing mainstream sampling methods. Furthermore, the challenges and constraints in seafloor sampling, encompassing terrestrial technology and the marine environment, are analyzed and discussed in depth. The critical technologies involved in transitioning SRSRs from conceptualization to prototype development are detailed. Finally, important development trends of SRSRs are presented, including recent short-term development goals and future long-term development goals.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1012-1036"},"PeriodicalIF":4.2,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on Satellite Navigation Control of Six-Crawler Machinery Based on Fuzzy PID Algorithm","authors":"Wang Shuai,&nbsp;Wang Huimin,&nbsp;Zhang Haoyan,&nbsp;Mao Yiwei,&nbsp;Fan Jiaxin","doi":"10.1002/rob.22434","DOIUrl":"10.1002/rob.22434","url":null,"abstract":"<div>\u0000 \u0000 <p>The six-crawler driving mechanism plays a crucial role in the operation of large machines such as bucket-wheel excavators, dumping machines, and mobile crushing stations, as it serves functions like bearing, movement and steering. The driving characteristics of this mechanism directly influence the safety and efficiency of these machinery systems. To enhance the design methodology for multi-crawler machinery, improve path controllability, and achieve adaptive driving, a satellite navigation control system for six-crawler machinery was developed based on the principles of real-time kinematic (RTK) satellite positioning. This system utilizes the distance deviation and heading angle deviation between the actual path and the predetermined path of the six-crawler machinery as inputs to a fuzzy proportion integration differentiation (fuzzy PID) controller. This controller regulates the deviation angle of the steering crawler and the driving speeds of each track, thereby ensuring precise path tracking control. To evaluate the path tracking control performance under both straight and curved driving conditions, a virtual prototype model of the six-crawler mechanical system was established, and co-simulation analysis was conducted. In addition, an experimental platform for path tracking control of six-crawler machinery was established to validate the efficacy of the satellite navigation system. The actual tracking data obtained from various driving conditions and initial deviations demonstrated that the RTK satellite navigation path tracking control system exhibited excellent control performance.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"984-999"},"PeriodicalIF":4.2,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142178545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}