{"id":"https://openalex.org/W4417470595","doi":"https://doi.org/10.1109/tvt.2025.3645853","title":"Lateral Path Tracking Control for Skid-Steered Uncrewed Ground Vehicles on Soft Terrain via Yaw Moment Compensation","display_name":"Lateral Path Tracking Control for Skid-Steered Uncrewed Ground Vehicles on Soft Terrain via Yaw Moment Compensation","publication_year":2025,"publication_date":"2025-12-18","ids":{"openalex":"https://openalex.org/W4417470595","doi":"https://doi.org/10.1109/tvt.2025.3645853"},"language":null,"primary_location":{"id":"doi:10.1109/tvt.2025.3645853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3645853","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","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/A5088519763","display_name":"Siyuan Guo","orcid":"https://orcid.org/0000-0002-2332-7992"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Guo","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-0484-1112","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018046485","display_name":"Zhi Ning","orcid":"https://orcid.org/0000-0002-8223-1501"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Ning","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-6450-1941","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347745","display_name":"Ming Lv","orcid":"https://orcid.org/0000-0001-7896-2750"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Lv","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-5569-5850","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36453163,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"75","issue":"6","first_page":"9328","last_page":"9338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.4311000108718872,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.4311000108718872,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.26589998602867126,"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"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.20010000467300415,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/terrain","display_name":"Terrain","score":0.7612000107765198},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7523999810218811},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5437999963760376},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.48579999804496765},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4803999960422516},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.47189998626708984},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.43529999256134033},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4291999936103821},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41200000047683716}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7612000107765198},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7523999810218811},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5437999963760376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49380001425743103},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.48579999804496765},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.47189998626708984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4474000036716461},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4291999936103821},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4090000092983246},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3571000099182129},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.34860000014305115},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.3472000062465668},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.326200008392334},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.299699991941452},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.2671000063419342},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.25949999690055847},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.25839999318122864}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3645853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3645853","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2077520675","display_name":null,"funder_award_id":"52305050","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G435843136","display_name":null,"funder_award_id":"52276026","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,61],"paper":[1],"proposes":[2],"a":[3,21,76,112,134],"hierarchical":[4],"control":[5],"strategy":[6,34],"based":[7,52],"on":[8,27,53],"adaptive":[9],"yaw":[10,43],"moment":[11],"compensation":[12,39,62],"to":[13,36,119],"address":[14],"the":[15,33,41,66,91,121,143],"lateral":[16,72,92],"path":[17,156],"tracking":[18,157],"problem":[19],"for":[20,40,128],"Skid-Steered":[22],"Unmanned":[23],"Ground":[24],"Vehicle":[25],"(SUGV)":[26],"soft":[28],"terrain.":[29],"The":[30],"core":[31],"of":[32,69],"is":[35,46,63,94,117],"perform":[37],"real-time":[38],"desired":[42],"moment,":[44],"which":[45],"generated":[47],"by":[48,65,75],"an":[49,106],"upper-level":[50],"controller":[51],"Active":[54],"Disturbance":[55],"Rejection":[56],"Sliding":[57],"Mode":[58],"Control":[59],"(ADSMC).":[60],"driven":[64],"online":[67],"estimation":[68],"instantaneous":[70],"wheel":[71],"forces":[73],"induced":[74],"random":[77],"terrain":[78,86,151],"model":[79],"that":[80,142],"incorporates":[81],"stochastic":[82],"terramechanics":[83],"parameters":[84],"and":[85,102,153],"profiles.":[87],"For":[88],"this":[89],"estimation,":[90],"force":[93],"finely":[95],"modeled":[96],"through":[97],"its":[98],"decomposition":[99],"into":[100],"adhesion":[101],"bulldozing":[103],"resistance.":[104],"Finally,":[105],"improved":[107],"Particle":[108],"Swarm":[109],"Optimization":[110],"with":[111],"Backtracking":[113],"Search":[114],"Algorithm":[115],"(PSO-BSA)":[116],"utilized":[118],"allocate":[120],"compensated":[122],"command":[123],"as":[124],"optimal":[125],"slip":[126],"ratios":[127],"each":[129],"wheel.":[130],"Validation":[131],"results":[132],"from":[133,150],"Simulink/CarSim":[135],"co-simulation,":[136],"using":[137],"real":[138],"vehicle":[139],"parameters,":[140],"demonstrate":[141],"proposed":[144],"method":[145],"effectively":[146],"rejects":[147],"disturbances":[148],"arising":[149],"uncertainties":[152],"significantly":[154],"improves":[155],"accuracy.":[158]},"counts_by_year":[],"updated_date":"2026-06-23T06:36:01.041984","created_date":"2025-12-18T00:00:00"}
