Efficient Path Tracking Control for Autonomous Driving of Tracked Emergency Rescue Robot under 6G Network

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Description</td><td class="align_center">Symbol</td><td class="align_center">Value</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Prediction horizon</td><td class="align_center"><span style="width: 16.1505ptpx;"><svg height="14.1101pt" id="M55" style="vertical-align:-5.4742pt" version="1.1" viewbox="-0.0498162 -8.6359 16.1505 14.1101" width="16.1505pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M822 650H589L583 622C660 617 677 607 674 561C672 534 664 481 647 390L600 137H596L273 650H126L120 622C176 620 194 615 207 594C221 571 225 557 214 504L161 257C141 166 129 112 121 85C108 42 83 30 29 28L23 0H260L266 28C193 33 173 42 176 89C178 122 186 172 202 255L256 527H259L583 -8H612L690 390C708 481 720 535 728 558C744 603 756 619 816 622L822 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.062,3.132)"><path d="M573 302C573 402 527 451 414 451C386 451 343 446 313 437L330 513L320 522C295 508 261 484 243 463L230 415C194 400 159 383 126 359L131 330C159 344 187 357 222 368L109 -147C96 -204 80 -214 18 -223L13 -255L256 -244L259 -212L236 -210C184 -205 180 -195 191 -141L219 -1C240 -10 268 -12 284 -12C352 4 431 48 484 104C543 166 573 240 573 302ZM481 290C481 165 381 37 305 37C280 37 249 56 235 71L302 395C328 399 353 402 372 402C427 402 481 378 481 290Z"></path></g></svg></span></td><td class="align_center">25</td></tr><tr><td class="align_left">Control horizon</td><td class="align_center"><span style="width: 14.4516ptpx;"><svg height="11.927pt" id="M56" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 14.4516 11.927" width="14.4516pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M822 650H589L583 622C660 617 677 607 674 561C672 534 664 481 647 390L600 137H596L273 650H126L120 622C176 620 194 615 207 594C221 571 225 557 214 504L161 257C141 166 129 112 121 85C108 42 83 30 29 28L23 0H260L266 28C193 33 173 42 176 89C178 122 186 172 202 255L256 527H259L583 -8H612L690 390C708 481 720 535 728 558C744 603 756 619 816 622L822 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.062,3.132)"><path d="M387 400C387 425 348 451 303 451C247 451 176 414 132 376C69 322 24 228 24 148C24 43 74 -12 147 -12C211 -12 301 33 363 103L346 128C319 99 249 51 193 51C148 51 112 84 112 165C112 230 130 287 154 330C170 359 199 400 243 400C277 400 304 383 326 354C333 345 343 343 354 348C378 360 387 382 387 400Z"></path></g></svg></span></td><td class="align_center">25</td></tr><tr><td class="align_left">Control cycle</td><td class="align_center"><i>T</i></td><td class="align_center">0.05 s</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The main parameters of the controller.</div>

Wireless Communications and Mobile Computing

tab1

Table 1

Table 1: Efficient Path Tracking Control for Autonomous Driving of Tracked Emergency Rescue Robot under 6G Network 