Adaptive preview control of single-point path tracker for car-like delivery service robot

I. Bae, J. H. Kim, S. Kim

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


The purpose of this research is to design a simple and intuitive path tracker to minimise the distance error of a car-like delivery service robot using only a position sensor, i.e. global positioning system in outdoor environments. The authors proposed not only a single-point preview path tracker (SPP), but also a curvature-based preview control using a quadratic curve fitting technique. This method can provide flexibility in preview distance control even at a constant speed, and reduces the burden of an actuator for maintenance. Furthermore, the performance of the proposed adaptive SPP is considerably improved compared to that when using a fixed preview distance.

Original languageEnglish
Pages (from-to)127-129
Number of pages3
JournalElectronics Letters
Issue number3
Publication statusPublished - 2020 Feb 6

Bibliographical note

Funding Information:
Acknowledgments: This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the ‘ICT Consilience Creative Program’ (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation)

Publisher Copyright:
© The Institution of Engineering and Technology 2020.

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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