Ming Xin — accepted AI-conference papers

2021

Continuous Robust Trajectory Tracking Control for Autonomous Ground Vehicles Considering Lateral and Longitudinal Kinematics and Dynamics via Recursive Backstepping

Ming Xin, Yue Yin, Kai Zhang, David Lackner, Zhongchao Ren, Mark Minor

IROS 2021poster

Maintaining lateral and longitudinal trajectory tracking accuracy is challenging for autonomous ground vehicles (AGVs). This paper considers kinematics and dynamics of longitudinal and lateral motion to form a novel composite structure considering the cross-impacts of acceleration and steering comma…

Cited by 6 Source ↗Scholar ↗

2020

Slip-Based Nonlinear Recursive Backstepping Path Following Controller for Autonomous Ground Vehicles

Ming Xin, Kai Zhang, David Lackner, Mark A. Minor

ICRA 2020poster

Path following accuracy and error convergence with graceful motion in vehicle steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds. This work is founded upon slip-based kinematic and dynamic models, which allow derivation of…

Cited by 13 Source ↗Scholar ↗