Advances in Guidance, Navigation, and Control

A special issue of Drones (ISSN 2504-446X).

Deadline for manuscript submissions: 28 February 2025 | Viewed by 1001

Special Issue Editor


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Guest Editor
School of Automation Science and Electrical Enginecring, Beihang University, Beijing 100191, China
Interests: swarm intelligence; intelligent perception; bionic algorithms
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Special Issue Information

Dear Colleagues,

This Special Issue focuses on advances in guidance, navigation, and control; the topics include but are not limited to (1) Survey and Discussion; (2) Control Theory and Analysis; (3) Intelligent Computing, Communication, and Control; (4) the Guidance, Navigation, and Control of Aircraft; (5) the Guidance, Navigation, and Control of Marine Vehicles; (6) the Guidance, Navigation, and Control of Other Moving Objects; (7) Autonomous Unmanned Systems; (8) Sensor Systems for Guidance, Navigation, and Control; and (9) Guidance, Navigation, and Control Education. All submissions should meet the scope of both the journal and the Special Issue.

Submitted papers will include, but will not be limited to, extended versions of accepted conference papers from ICGNC 2024, which will be held from August 9 to 11 in Changsha, China. Authors must reference the corresponding conference papers.

Prof. Dr. Haibin Duan
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Drones is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • guidance systems
  • navigation systems
  • control systems
  • unmanned systems

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Published Papers (1 paper)

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Research

31 pages, 33586 KiB  
Article
A Fuzzy Pure Pursuit for Autonomous UGVs Based on Model Predictive Control and Whole-Body Motion Control
by Yaoyu Sui, Zhong Yang, Haoze Zhuo, Yulong You, Wenqiang Que and Naifeng He
Drones 2024, 8(10), 554; https://doi.org/10.3390/drones8100554 - 6 Oct 2024
Viewed by 723
Abstract
In this paper, we propose an adaptive fuzzy pure pursuit trajectory tracking algorithm for autonomous unmanned ground vehicles (UGVs), addressing the challenges of accurate and stable navigation in complex environments. Traditional pure pursuit methods with fixed look-ahead distances struggle to maintain precision in [...] Read more.
In this paper, we propose an adaptive fuzzy pure pursuit trajectory tracking algorithm for autonomous unmanned ground vehicles (UGVs), addressing the challenges of accurate and stable navigation in complex environments. Traditional pure pursuit methods with fixed look-ahead distances struggle to maintain precision in dynamic and uneven terrains. Our approach uniquely integrates a fuzzy control algorithm that allows for real-time adjustments of the look-ahead distance based on environmental feedback, thereby enhancing tracking accuracy and smoothness. Additionally, we combine this with model predictive control (MPC) and whole-body motion control (WBC), where MPC forecasts future states and optimally adjusts control actions, while WBC ensures coordinated motion of the UGV, maintaining balance and stability, especially in rough terrains. This integration not only improves responsiveness to changing conditions but also enables dynamic balance adjustments during movement. The proposed algorithm was validated through simulations in Gazebo and real-world experiments on physical platforms. In real-world tests, our algorithm reduced the average trajectory tracking error by 45% and the standard deviation by nearly 50%, significantly improving stability and accuracy compared to traditional methods. Full article
(This article belongs to the Special Issue Advances in Guidance, Navigation, and Control)
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