{"id":"https://openalex.org/W4416751134","doi":"https://doi.org/10.1109/iros60139.2025.11246956","title":"Emergency Avoidance: Model Predictive Control Based Path Tracking for Unmanned Ground Vehicles with Active Obstacle Avoidance","display_name":"Emergency Avoidance: Model Predictive Control Based Path Tracking for Unmanned Ground Vehicles with Active Obstacle Avoidance","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751134","doi":"https://doi.org/10.1109/iros60139.2025.11246956"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016691452","display_name":"Zongliang Chen","orcid":"https://orcid.org/0000-0002-8236-9631"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongliang Chen","raw_affiliation_strings":["Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070109127","display_name":"Shuguo Pan","orcid":"https://orcid.org/0000-0003-0724-9020"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuguo Pan","raw_affiliation_strings":["Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004985600","display_name":"Xinhua Tang","orcid":"https://orcid.org/0000-0001-9453-043X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhua Tang","raw_affiliation_strings":["Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060460699","display_name":"Wang Gao","orcid":"https://orcid.org/0000-0002-7782-9533"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Gao","raw_affiliation_strings":["Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":null,"display_name":"ShaoBo Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"ShaoBo Liang","raw_affiliation_strings":["Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, State Key Laboratory of Comprehensive PNT Network and Equipment Technology,School of Instrument Science and Engineering,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003281791","display_name":"Xiaocong Li","orcid":"https://orcid.org/0000-0001-7690-4768"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaocong Li","raw_affiliation_strings":["Eastern Institute of Technology, Ningbo,College of Information Science and Technology,Ningbo,China,315200"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eastern Institute of Technology, Ningbo,College of Information Science and Technology,Ningbo,China,315200","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I4210165339"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"920","last_page":"926"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.4505000114440918,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.4505000114440918,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.2231999933719635,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.1023000031709671,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8644999861717224},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7459999918937683},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7443000078201294},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5852000117301941},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5385000109672546},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.49880000948905945},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47049999237060547},{"id":"https://openalex.org/keywords/active-safety","display_name":"Active safety","score":0.4683000147342682},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43689998984336853}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8644999861717224},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7459999918937683},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7443000078201294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5859000086784363},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5852000117301941},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5385000109672546},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.49880000948905945},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47049999237060547},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.4683000147342682},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43689998984336853},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43230000138282776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4106999933719635},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4018000066280365},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3953999876976013},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.39149999618530273},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3327000141143799},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33169999718666077},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.32760000228881836},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28529998660087585},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C2775907273","wikidata":"https://www.wikidata.org/wiki/Q7805281","display_name":"Time constraint","level":2,"score":0.25690001249313354}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1626571806","https://openalex.org/W1978956894","https://openalex.org/W1984505032","https://openalex.org/W2130835962","https://openalex.org/W2139137304","https://openalex.org/W2306644740","https://openalex.org/W2341848647","https://openalex.org/W2411880591","https://openalex.org/W2529203031","https://openalex.org/W2537300304","https://openalex.org/W2616258440","https://openalex.org/W2750254771","https://openalex.org/W2897407594","https://openalex.org/W2946231253","https://openalex.org/W3115050275","https://openalex.org/W3134491489","https://openalex.org/W4206111658","https://openalex.org/W4210782077","https://openalex.org/W4214863919","https://openalex.org/W4307957912","https://openalex.org/W4308310328","https://openalex.org/W4319449817","https://openalex.org/W4383891636","https://openalex.org/W4386736793","https://openalex.org/W4388983821"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,65],"is":[2,17,128,160],"a":[3,54,81,125,154,189],"high-performance,":[4],"safety-critical":[5],"task.":[6],"Effectively":[7],"controlling":[8],"autonomous":[9,64,90],"vehicles":[10],"to":[11,38,58,115,130,151],"enhance":[12],"both":[13,146],"performance":[14,52],"and":[15,22,42,50,67,102,149,167,182,186,204,213],"safety":[16,51,66,88,110,164],"crucial,":[18],"especially":[19],"in":[20,26,100,119,188,211],"complex":[21],"dynamic":[23],"environments.":[24],"However,":[25],"real-time":[27,68],"obstacle":[28,141,202],"avoidance":[29,142,203],"(OA)":[30],"scenarios,":[31],"the":[32,76,87,93,132],"planning":[33],"layer":[34,78],"often":[35],"fails":[36],"due":[37],"high":[39],"computational":[40,48],"complexity":[41],"response":[43],"delays.":[44],"This":[45],"trade-off":[46],"between":[47,63],"efficiency":[49,212],"presents":[53],"key":[55,171],"challenge:":[56],"how":[57],"achieve":[59],"an":[60,108],"optimal":[61],"balance":[62],"performance.":[69],"In":[70],"recent":[71],"years,":[72],"addressing":[73],"OA":[74,109,118],"at":[75],"control":[77],"has":[79],"become":[80],"major":[82],"research":[83],"focus":[84],"for":[85,140],"improving":[86],"of":[89,95],"vehicles.":[91],"Given":[92],"advantages":[94],"Model":[96],"Predictive":[97],"Control":[98],"(MPC)":[99],"prediction":[101],"constraint":[103,112],"handling,":[104],"this":[105],"paper":[106],"integrates":[107],"distance":[111,138,165],"into":[113],"MPC":[114,158],"effectively":[116],"handle":[117],"Unmanned":[120],"Ground":[121],"Vehicles":[122],"(UGVs).":[123],"First,":[124],"Taylor":[126],"expansion":[127],"used":[129],"construct":[131],"UGV\u2019s":[133],"error":[134],"model.":[135],"Then,":[136],"safe":[137],"constraints":[139,166],"are":[143,174],"formulated,":[144],"considering":[145],"tracking":[147,215],"errors":[148],"proximity":[150],"obstacles.":[152],"Additionally,":[153],"Safe":[155],"Obstacle":[156],"Avoidance":[157],"(SOAMPC)":[159],"developed":[161],"by":[162],"integrating":[163],"physical":[168],"limitations.":[169],"Furthermore,":[170],"control-theoretic":[172],"properties":[173],"established,":[175],"including":[176],"recursive":[177],"feasibility,":[178],"guaranteed":[179],"collision":[180],"avoidance,":[181],"system":[183],"stability.":[184],"Simulations":[185],"experiments":[187],"multi-obstacle":[190],"environment":[191],"validate":[192],"SOAMPC\u2019s":[193],"effectiveness.":[194],"Results":[195],"show":[196],"that":[197],"SOAMPC":[198],"not":[199],"only":[200],"ensures":[201],"stability":[205],"but":[206],"also":[207],"outperforms":[208],"other":[209],"methods":[210],"path":[214],"accuracy.":[216]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-11-28T00:00:00"}
