Table · dataset · 2026
<p>Average Cross-Track error.</p>
Listed in Loughborough Research Repository and GRANTS Data and UP Research Data Repository — shown once because both records carry DOI 10.1371/journal.pone.0357979.t001
<div><p>Autonomous differential-drive robots are typically controlled to follow a desired path.
Description
This path may be defined by a continuous curve or set of waypoints. Few studies have examined cases in which a path is defined by an arbitrary set of waypoints.
This paper introduces a new approach to a path-tracking system for an arbitrary set of waypoints using a <i>sliding mode control</i> (SMC) system. This approach is based on a nonlinear kinematic model of the tracking error derived in this research for a differential-drive robot. Based on the derived error model, a sliding mode controller is introduced to drive the tracking error to zero.
Read the rest (2 more)
The stability of the system was also investigated. In addition, the effects of robot dynamics were incorporated into the proposed controller without prior knowledge of the exact parameters of the robot. Simulations were conducted to compare the proposed control system with a widely used approach to demonstrate the effectiveness of the proposed controller in tight maneuvers, particularly at directional discontinuity and/or sharp turns.
The proposed technique was verified through real-time experimental tests using a differential drive robot.</p></div>
Links
Where it is published
- DOI doi.org/10.1371/journal.pone.0357979.t001 ↗
DOI / persistent id · from repository lboro ac uk
Catalogue records · 1
- OAI-PMH record api.figshare.com/v2/oai?verb=GetRecord&metadataPrefix=oai_dc&identifier=oai%3Af… ↗
metadata API · from repository lboro ac uk
Topics
- From keywords
- Astronomy & Astrophysics · Astronomy & Astrophysics · Astronomy & Astrophysics · Cancer · Cancer · Cancer · Chemistry · Computer Science & AI · Earth & Environmental Science · Earth & Environmental Science · Earth & Environmental Science · Ecology · Ecology · Ecology · Economics & Finance · Engineering · Engineering · Humanities · Humanities · Life Sciences · Life Sciences · Life Sciences · Materials Science · Mathematics & Statistics · Mathematics & Statistics · Mathematics & Statistics · Medicine & Health · Medicine & Health · Medicine & Health · Psychology & Behavioral Science · Research, science and technology policy · Research, science and technology policy · Research, science and technology policy · Social Science · Social Science
Provenance · 3 source records, 40 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| Loughborough Research Repository | oai:figshare.com:article/34057551 | 12 d ago | JSON v1 |
| GRANTS Data | oai:figshare.com:article/34057551 | 12 d ago | JSON v1 |
| UP Research Data Repository | oai:figshare.com:article/34057551 | 11 d ago | JSON v1 |
| Field | Assertion | Extractor | Evidence |
|---|---|---|---|
| access_level | source · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[disease].local:disease:cancer | mapping · researchdata up ac za | vocabulary-mapper@1.0.0 | keywords['Cancer'] |
| concepts[disease].local:disease:cancer | mapping · grantsdata jst go jp | vocabulary-mapper@1.0.0 | keywords['Cancer'] |
| concepts[disease].local:disease:cancer | mapping · repository lboro ac uk | vocabulary-mapper@1.0.0 | keywords['Cancer'] |
| concepts[field].anzsrc:field:440710 | mapping · researchdata up ac za | vocabulary-mapper@1.0.0 | keywords['Science Policy'] |
| concepts[field].anzsrc:field:440710 | mapping · repository lboro ac uk | vocabulary-mapper@1.0.0 | keywords['Science Policy'] |
| concepts[field].anzsrc:field:440710 | mapping · grantsdata jst go jp | vocabulary-mapper@1.0.0 | keywords['Science Policy'] |
| concepts[field].anzsrc:group:3103 | mapping · repository lboro ac uk | vocabulary-mapper@1.0.0 | keywords['Ecology'] |
| concepts[field].anzsrc:group:3103 | mapping · grantsdata jst go jp | vocabulary-mapper@1.0.0 | keywords['Ecology'] |
| concepts[field].anzsrc:group:3103 | mapping · researchdata up ac za | vocabulary-mapper@1.0.0 | keywords['Ecology'] |
| concepts[field].local:field:astronomy | mapping · grantsdata jst go jp | connector:grantsdata_jst_go_jp@1.0.0 | |
| concepts[field].local:field:astronomy | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:astronomy | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:chemistry | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:computer-science-ai | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:earth-environmental | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:earth-environmental | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:earth-environmental | mapping · grantsdata jst go jp | connector:grantsdata_jst_go_jp@1.0.0 | |
| concepts[field].local:field:economics-finance | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:engineering | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:engineering | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:humanities | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:humanities | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:life-sciences | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:life-sciences | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:life-sciences | mapping · grantsdata jst go jp | connector:grantsdata_jst_go_jp@1.0.0 | |
| concepts[field].local:field:materials-science | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:mathematics-statistics | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:mathematics-statistics | mapping · grantsdata jst go jp | connector:grantsdata_jst_go_jp@1.0.0 | |
| concepts[field].local:field:mathematics-statistics | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:medicine-health | mapping · grantsdata jst go jp | connector:grantsdata_jst_go_jp@1.0.0 | |
| concepts[field].local:field:medicine-health | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:medicine-health | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| concepts[field].local:field:psychology-behavioral | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:social-science | mapping · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| concepts[field].local:field:social-science | mapping · researchdata up ac za | connector:researchdata_up_ac_za@1.0.0 | |
| description | source · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | /metadata/dc/description |
| license | source · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | /metadata/dc/rights |
| publication_date | source · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | |
| title | source · repository lboro ac uk | connector:repository_lboro_ac_uk@1.0.0 | /metadata/dc/title |