In order to avoid wheel slippage or mechanical damage during the mobile robot navigation, it is necessary tosmoothly change driving velocity or direction of the mobile robot. The trajectory control contains lateral control (path tracking) and longitudinal control. Stored data is often dropped after N scans have expired with fewer than M detections within a specific volume. Industrial and academic communities both put much effort into it. 0000001684 00000 n Transition to track typically involves an M out of N strategy, such as at least 3 detections out of a maximum of 5 scans. 0000004794 00000 n Stored data must also be held long enough to complete processing required to develop new tracks. Similar migration trends occurred in other countries throughout the world for similar reasons. The precise path-tracking control of tractors and trailers is the key to realizing agricultural automation. Section 1 is the introduction, Sect. 0000002044 00000 n Transponder data showing identity. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. Abstract : Considering the influence of speed on the path tracking accuracy of transplanter, a path tracking algorithm based on speed self-adjusting is proposed to the improve performance of the linear path tracking of transplanter operating in complex field environments. The user can perform actions while the hook is active, such as communicate with the vehicle or notify other users regarding the vehicle associated with the track. Passive listening is used when the tracking system is not emitting any energy, such as with underwater systems, with electronic counter countermeasures, and with projectile sensors. 0000004079 00000 n Refresh. This produces a set of possible sampling strategies, where every vertex of one path can be connected directly to every vertex of the other. Path tracing is a computer graphics Monte Carlo method of rendering images of three-dimensional scenes such that the global illumination is faithful to reality. Sensors operate using a polar coordinate system. 0000066447 00000 n In this paper, a combined use of a ring oscillator-based detection circuit and a path tracking algorithm is found to improve the wire and net coverages, meaning that the detection scope can be maximized. and improve the anti-occlusion detection ability of the model. In the study, a path tracking problem is . Implementation of a renderer including these effects is correspondingly simpler. There are three types of problems in backtracking . // Pick a random direction from here and keep going. This means the feedback loop must be opened for objects like helicopters because the main body of the vehicle can be below the rejection velocity (only the blades are visible). 5.1) that connects the rear axle location to the goal point on the reference trajectory and by applying the {\displaystyle {\frac {1}{\pi }}} Pull requests. Principle III follows. Track position and velocity information establishes a track volume at a future position. Throughout the NavLab pmject a number of path tracking algorithms were proposed and implemented, including the Quintic Polynomial approach and a "Control Theory" approach. 0000003034 00000 n Path tracking algorithm As the basis of autonomous driving, the performance of path tracking is hard to overstate. Vector pursuit is a new geometric path-tracking algorithm that takes advantage of a desired orientation as well as a desired position while remaining . Data quickly loses any purpose for sensor systems that use an M out of N detection strategy. This makes it essential that practical guidance algorithms be able to track waypoints-based routes. This integration procedure is repeated for every pixel in the output image. Noise is particularly a problem for animations, giving them a normally unwanted "film-grain" quality of random speckling. Bring a cursor to the center of the display. the most basic path tracking method is represented by the pure pursuit formula, derived by geometrically calculating the curvature of a circular arc (describing an angle 2 in a top view of the single-track model of the system, see fig. Backtracking is an algorithmic technique for solving problems recursively by trying to build a solution incrementally, one piece at a time, removing those solutions that fail to satisfy the constraints of the problem at any point of time (by time, here, is referred to the time elapsed till reaching any level of the search tree). ; then, the bottom-up path enhancement structure in the feature fusion layer is removed . Backtracking is an algorithmic technique for solving problems recursively by trying to build a solution incrementally, one piece at a time, removing those solutions that fail to satisfy the constraints of the problem at any point of time (by time, here, is referred to the time elapsed till reaching any level of the search tree). The image starts to become recognisable after only a few samples per pixel, perhaps 100. Importance Sampling is used to match ray density to Lambert's Cosine law, and also used to match BRDFs. Path tracking application aims to facilitate the user in finding the location sought. However, for the image to "converge" and reduce noise to acceptable levels usually takes around 5000 samples for most images, and many more for pathological cases. I. Given the general success of the algorithm over the past few . Valid reflectors produce a lock. To compensate for the effects of dispersions and uncertainties, an original radius tracking guidance model is presented, with a formulation for both the . Another current path tracking method, proportional path tracking,15 uses both a desired po-sition and heading, but is geometrically meaningless by adding terms with different units. This implementation of A* from PythonRobotics, considers parameters like obstacles and robot radius. 0000005729 00000 n I've checked for duplicate issues by using the search function of the issue tracker What is the expected behaviour/value? However, the path tracing algorithm is relatively inefficient: a very large number of rays must be traced to get high-quality images free of noise artifacts. Backtracking can be defined as a general algorithmic technique that considers searching every possible combination in order to solve a computational problem. Interpolating Path With B-spline After finding a path in a descrete 100*100 space, the path is smoothed and scaled to 1000*1000 space of environment using b-spline. Earlier films had relied on scanline renderers to produce CG visual effects and animation. XYZ velocity is determined by subtracting successive values and dividing by the time difference between the two scans. Firstly, a speed self- adjusting fuzzy controller is established, where . Tracks with no detections become coasted tracks. Doppler velocity feedback must be disabled in the vicinity of reflectors like helicopters, where Doppler velocity measurement does not match radial velocity of the vehicle. Tracking Paths is NP-hard in both directed and undirected graphs in general. Director of Product Management in Moses Lake, WA Expand search. Each sensor detection is surrounded by a capture volume. Track mode begins when a sensor produces a sustained detection in a specific volume of space. Return the display to its normal operating condition (not associated with dropping tracks). This paper augments the literature with a comprehensive collection of important path tracking ideas, a guide to their implementations and, most importantly, an independent and realistic comparison of the performance of these various approaches. The implementation of the pure pursuit path tracking algorithm is described in detail, and some insights into the performance of the algorithm as a function of its parameters are presented. For approaching a near-optimal solution with the available data-set/node, A* is the most widely used method. If the average difference falls below a threshold, then the signal is a lock. The track volume is much smaller than the capture volume. probabilistically select a new ray according to the BRDF's distribution. Track history for underwater objects can extend back several weeks. trailer << /Size 105 /Info 65 0 R /Root 68 0 R /Prev 404025 /ID[<4808ad416593d4ca392e63eaf4e85408><3c4e43ddb895aac3fd6a9731ab862ce5>] >> startxref 0 %%EOF 68 0 obj << /Type /Catalog /Pages 54 0 R /Metadata 66 0 R /JT 64 0 R /PageLabels 53 0 R >> endobj 103 0 obj << /S 287 /L 416 /Filter /FlateDecode /Length 104 0 R >> stream Invalid signals include microwaves made by sources separate from the transmitter, such as radar jamming and deception. This is a special case of the Kalman filter. Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances. The realization that scattering from a surface depends on both incoming and outgoing directions is the key principle behind the Bidirectional reflectance distribution function (BRDF). We use path recognition in robust and optimal way with observer to calculate and identify control errors based on the D* Lite algorithm and tracking the targets of mobile robot without encountering obstacles and other disturbances with training in a RDNN. It is based on an adaptive stepsize predictor that uses Pad techniques to detect local difficulties for function approximation and danger for path jumping. At each tracker cycle, the person's location is stored, building a history of the person's path. 14.Trajectory Flight: Draw the desired flight path on the screen, and the drone will fly automatically along the specified path. This strategy is normally used with semi-active radar homing and with underwater systems. This direction dependence was a focus of research resulting in the publication of important ideas throughout the 1990s, since accounting for direction always exacted a price of steep increases in calculation times on desktop computers. The path tracking algorithm computes the steering commands in order to follow the path employing the pure pursuit algorithm, where the objetive point is chosen a determinated distance ahead from the robot in the desired path. When combined with physically accurate models of surfaces, accurate models of real light sources (light bulbs), and optically correct cameras, path tracing can produce still images that are indistinguishable from photographs. He implements the longitudinal and lateral controllers to track the path with high velocity and extracts the waypoints to drive the vehicle through a US city scene. This is called track history. This occurs before track, capture and drop processing. This paper addresses the problem regarding the influence of random dispersions related to the environment and system on a flight-path angle guidance algorithm using lift modulation for aerogravity-assist maneuvers on hyperbolic trajectories. 0000001213 00000 n Tim Purcell first presented a global illumination algorithm running on a GPU in 2002. Each separate object has its own independent track information. GitHub - dhirajmaji7/Pure-Pursuit-path-tracking-algorithm: Implementation code for one of the popular path tracking algorithms - the Pure Pursuit Algorithm. Skip to content Product Solutions Open Source Pricing Sign in Sign up dhirajmaji7 / Pure-Pursuit-path-tracking-algorithm Public Notifications Fork 0 Star 0 Code Issues Pull requests Actions The algorithm relies on the combination between a DOB and a parametric kinematic model in order to compensate slip phenomena. 0000008009 00000 n A path tracer can take full advantage of complex, carefully modelled or measured distribution functions, which controls the appearance ("material", "texture" or "shading" in computer graphics terms) of an object. The audible alert draws attention to the scrolling notification. Reflectors that do not produce a lock signal cannot be tracked using the conventional technique. Path tracking is a vital capability of autonomous vehicles. Optimization Problem In this, we search for the best solution. The traditional trajectory tracking algorithm is mainly used in industrial computer or high-performance computer. Last edited on 23 September 2022, at 11:11, "Performance Comparison of Tracking Algorithms for a Ground Based Radar", https://en.wikipedia.org/w/index.php?title=Track_algorithm&oldid=1111871070, Angle along the artificial horizon (deck), Distance along the plane established by the horizon, Angle in earth coordinates with true north as the reference, Angle in deck-plane coordinates using vehicle heading as the reference, Cartesian coordinates typically known as X, Y, and Z, Polar coordinates typically known as range, bearing, and elevation, Analog detection pulses from radar and sonar systems, A symbol and number allowing operators to unambiguously identify the vehicle. New tracks that fall within the capture volume of a coasted track are cross correlated with the track history of the nearby coasted track. This is done by casting more rays in directions in which the luminance would have been greater anyway. For each sample, two paths are traced independently: one using from the light source and one from the camera. This technique is usually effective, but becomes less useful when specular or near-specular BRDFs are present. 0000009463 00000 n The coriolis effect can be used to determine the distance to this line when the object maintains constant speed during a turn. III. This frequency is converted to radial velocity. Metropolis light transport, a method of perturbing previously found paths in order to increase performance for difficult scenes, was introduced in 1997 by Eric Veach and Leonidas J. Guibas. A new track that begins in or near the capture volume of an active track is called a split track. To address this problem, this paper presents a novel guidance law that divides waypoints-based routes into two parts . The following pseudocode is a procedure for performing naive path tracing. In this article, we use MPC algorithm to design an adaptive path tracking controller based on the vehicle coordinate system, which is effectively applicable to path tracking scenarios with different vehicle speeds and large path curvatures. Advanced Math. He also demonstrates the model to visualize the vehicle motion in a 3D environment and bird's-eye view. [1] Path tracing was introduced then as an algorithm to find a numerical solution to the integral of the rendering equation. Historical information is accumulated and used to predict future position for use with air traffic control, threat estimation, combat system doctrine, gun aiming, missile guidance, and torpedo delivery. From that simple observation, two principles follow. The algorithm is implemented both on a simulator for autonomous forest machines and a physical small-scale robot. HlT8+xmEc0i*q |p~a"W:%RHJE4m|Y.WIT?87:v+/:r>56. Just enjoy the fun of aerial photography! This means that dynamic constraints of the mobile robotshould be considered in the design of path tracking algorithm. 2 describes hardware Trojan taxonomy and basics of Trojan detection. use following command to run detection and tracking on your custom video python main.py -c config.json -v <media_path> Example: python main.py -c config.json -v car1.mp4 Note : Before executing this command make sure that you have downloaded model weights and config file for yolo object detection. After importing a passive tree using the Import Tree button, if I try to allocate a new passive, the path PoB takes to get to that passive is found as if the tree doesn't have any passives allocated at all. The illumination coming from surfaces must scatter in a particular direction that is some function of the incoming direction of the arriving illumination, and the outgoing direction being sampled. 0000088321 00000 n 0000007015 00000 n The signal emission signature must be used to match up angular data to accomplish track capture when multiple signal sources arrive at the sensor simultaneously. This paper presents a fast and easily implementable path tracking algorithm for robots. In order to improve the path-tracking control accuracy and driving stability of orchard traction spraying robots, this study proposed a navigation path-tracking control algorithm based on Double Deep Q-Network (Double DQN). Similar to the path following, the model predictive control is applied to achieve the trajectory tracking task. Deutsches Zentrum fr Luft- und Raumfahrt e.V., eLib - DLR electronic library Kajiya's rendering equation adheres to three particular principles of optics; the Principle of global illumination, the Principle of Equivalence (reflected light is equivalent to emitted light), and the Principle of Direction (reflected light and scattered light have a direction). Track algorithms were migrated from analog equipment to digital computers from the 1950s through the 1980s. The reflective properties (amount, direction and color) of surfaces are modelled using BRDFs. Path-based tracking algorithm The "path-based" tracking algorithm carefully considers the relative paths of points on the slave surface with respect to the master surface within each increment and allows for double-sided shell and membrane master surfaces. Capture processing takes place only after stored sensor data has been compared with all existing tracks. This algorithm was created in order to get faster convergence in scenes in which the light must pass through odd corridors or small holes in order to reach the part of the scene that the camera is viewing. // This is NOT a cosine-weighted distribution! It has unique advantages in the application of industrial production control, and its applications can be found in every aspect of life. Whenever we find that current digit cannot lead to a solution, we remove it (backtrack) and try next digit. The satellite-based Vehicle Tracking System accuracy can be improved by augmenting the positional information using road network data, in a process known as map-matching. This is the track history that is used to keep track of position and velocity. This work is presented as five sections. Lock means that the signal obeys Newtonian mechanics. For Backwards Path Tracing, this creates high variance for caustic paths that interact with a diffuse surface, then bounce off a specular surface before hitting a light source. . A line showing where the vehicle will be in the future. 0000001108 00000 n While radiosity received a lot of attention at its invocation, perfectly diffuse surfaces do not exist in the real world. Path Tracking Control Algorithm Considering Delay Compensation Abstract: The delay in the control loop of autonomous vehicles can diminish controller effectiveness to a great extent and may even engender instability in a critical driving situation. It is of great significance to study the anti-occlusion target detection and tracking algorithm of anti-UAV system for the situation that UAV cannot be successfully detected under occlusion. Each different kind of sensor produces different kinds of track data. Used to scroll the cursor near a track symbol or raw sensor video. Second, there is no distinction to be made between illumination emitted from a light source and illumination reflected from a surface. The di. For Backwards Path Tracing, it is connecting the vertices of the light path to the first vertex of the camera path. 0000007988 00000 n - Find the path point closest to the vehicle. There are other principles of optics which are not the focus of Kajiya's equation, and therefore are often difficult or incorrectly simulated by the algorithm. Invented in 1984, a rather different method called radiosity was faithful to both principles. 0000009240 00000 n 0000012480 00000 n This reflected light then illuminates other objects in turn. Abstract : The main purpose of this technical report is to describe in detail the implementation of the pure pursuit path tracking algorithm. Considering the influence of speed on the path tracking accuracy of transplanter, a path tracking algorithm based on speed self-adjusting is proposed to the improve performance of the linear path tracking of transplanter operating in complex field environments. Transition to track begins when the capture volume for two detections overlap. Our research has utilized an artificial intelligence-based eye . Hook action turns off the cursor and displays additional information from the track algorithm. This is shaped like a box. [10 points] Use Dijkstra's algorithm to find the shortest path from \ ( a \) to \ ( z \). Managing ECMP Group Paths; Creating an ECMP Group Bundle; Modifying the ECMP Group Threshold; FIPS Cryptography. Path tracing is a computer graphics Monte Carlo method of rendering images of three-dimensional scenes such that the global illumination is faithful to reality. Lock and radial velocity are unique requirement for Doppler sensors that add additional layers of complexity to the track algorithm. Some common terminology is as follows. Backtracking is a general algorithm for solving some computational problems, most notably constraint satisfaction problems, that incrementally builds candidates to the solutions and abandons a candidate's backtracks as soon as it determines that the candidate cannot be completed to a reasonable solution. The A* Algorithm is a widely popular graph traversal path planning algorithm that works similarly to Dijkstra's algorithm. the path-tracking task. Abstract. Users have a pointing device with several buttons that provides access to the track file through the Plan Position Indicator. Sony Pictures Imageworks' Monster House was, in 2006, the first animated feature film to be rendered entirely in a path tracer, using the commercial Arnold renderer. [3] In February 2009, Austin Robison of Nvidia demonstrated the first commercial implementation of a path tracer running on a GPU [4], and other implementations have followed, such as that of Vladimir Koylazov in August 2009. The track is continued briefly in the absence of any detections. Ship path-following is necessary for both manned and unmanned ships. 0000012014 00000 n Fill in the following table to track each step of the algorithm. This paper proposes a deep reinforcement learning (DRL)-based algorithm in the path-tracking controller of an unmanned vehicle to autonomously learn the path-tracking capability of the vehicle by interacting with the CARLA environment. The MSA path tracking method consists in calculating the point where the circumference of a sphere crosses the homotopic path; nevertheless, this sphere always intersects the homotopic path in two points, as for our purposes we are only interested in just one. Subsonic projectiles emit a shock wave that arrives after the muzzle blast. The size of the capture volume is approximately the distance the fastest vehicle can travel between successive scans of that same volume of space. This is often called spherical coordinates based on elevation, bearing, and range. or the object will reflect more light than it receives (this however depends on the sampling scheme used, and can be difficult to get right). support@shin-norinco.com The computational complexity leads to poor real-time control, and it is easily interfered by external complex terrain environment and internal disordered electromagnetic environment during vehicle driving. Modern civilian air traffic and military combat systems depend upon a custom track algorithms used with real-time computing slaved to displays and peripherals. - Transform the goal pohl to vehicle coordinates. Likewise, it cannot be used to sample paths from the specular surface because there is only one direction that the light can bounce. In addition, there are several completely new sampling strategies, where intermediate vertices are connected. // Recursively trace reflected light sources. If you like GeeksforGeeks and would like to contribute, you can also write an article using write.geeksforgeeks.org or mail your article to review-team@geeksforgeeks.org. Path tracking in the field of computer vision is a cross-discipline that integrates graphics and image processing, intelligent systems, and procedural control. Tracking algorithms operate with a cartesian coordinate system. This is a performance limitation for non-Doppler systems. 0000007243 00000 n 0000007222 00000 n The capture strategy depends upon the kind of sensor. This strategy produces a large number of false tracks due to clutter near the horizon and in the viscidity of weather phenomenon and biologicals. Ocean Engineering, 111 (2016), pp. First, a problem with a . Fundamentally, the algorithm is integrating over all the illuminance arriving to a single point on the surface of an object. Data-driven trajectory tracking control algorithm. For example, a track coast can result from an aircraft collision, so the cause needs to be determined otherwise supervisory personnel need to be notified. The original tracking algorithms were built into custom hardware that became common during World War II. The path tracking algorithm is used to predict the rotation angle, the ball speed, and the athlete's body information during the badminton movement through sensors, and the position information of the moving target is captured based on the visual field tracking and target dynamic tracking. The equivalent for transmitted light (light that goes through the object) are BSDFs. acknowledge that you have read and understood our, Data Structure & Algorithm Classes (Live), Full Stack Development with React & Node JS (Live), Fundamentals of Java Collection Framework, Full Stack Development with React & Node JS(Live), GATE CS Original Papers and Official Keys, ISRO CS Original Papers and Official Keys, ISRO CS Syllabus for Scientist/Engineer Exam, Introduction to Backtracking Data Structure and Algorithm Tutorials, The Knights tour problem | Backtracking-1, Solving Cryptarithmetic Puzzles | Backtracking-8, Write a program to print all Permutations of given String, Rat in a Maze with multiple steps or jump allowed, Print all possible paths from top left to bottom right of a mXn matrix, Warnsdorffs algorithm for Knights tour problem, Printing all solutions in N-Queen Problem, Print all possible strings that can be made by placing spaces, Print all longest common sub-sequences in lexicographical order, Find shortest safe route in a path with landmines, Count all possible Paths between two Vertices, Fill 8 numbers in grid with given conditions, Minimize number of unique characters in string, Partition of a set into K subsets with equal sum, Longest Possible Route in a Matrix with Hurdles, Match a pattern and String without using regular expressions, Fill two instances of all numbers from 1 to n in a specific way, Practice Problems on Backtracking Algorithms, Recent Articles on Backtracking Algorithms, Backtracking | Set 1 (The Knights tour problem), Backtracking | Set 5 (m Coloring Problem), Backtracking | Set 8 (Solving Cryptarithmetic Puzzles), A backtracking approach to generate n bit Gray Codes, C++ program for Solving Cryptarithmetic Puzzles, Write a program to print all permutations of a given string, Count all possible paths between two vertices, Find paths from corner cell to middle cell in maze, Find if there is a path of more than k length from a source, Find Maximum number possible by doing at-most K swaps, Print all palindromic partitions of a string, Print all paths from a given source to a destination, Print all possible strings that can be made by placing spaces| Set-1, Print all possible strings that can be made by placing spaces| Set-2, Smallest expression to represent a number using single digit, Given an array A[] and a number x, check for pair in A[] with sum as x, Combinations where every element appears twice and distance between appearances is equal to the value, Learn Data Structure and Algorithms | DSA Tutorial, Top 20 Backtracking Algorithm Interview Questions. %PDF-1.3 % A track algorithm is a radar and sonar performance enhancement strategy. As an example, a capture distance of 10 miles require periodic scans no more than 15 seconds apart in order to detect vehicles traveling at mach 3. Sensors (radar) scan a volume of space periodically. The original Light Tracing and Backwards Path Tracing algorithms are both special cases of these strategies. Enumeration Problem In this, we find all feasible solutions. The process is similar to celestial mechanics where orbit is found from line of site data. Hb```f``AX,5&Jy~n7 Among known tracking methods, the algorithm for geometric path tracking is the most popular one for autonomous vehicles. This may include speed, altitude, and heading in commercial aircraft. Configuring the Hash Algorithm; Enabling Deterministic ECMP Next Hop; Configuring the Hash Algorithm Seed; Link Bundle Monitoring. The scrolling notifications and audible alerts require no user action. But it directs its search toward the most promising states, potentially saving time. Sensor data is stored temporarily for capture and track evaluation, Stored sensor data failed to fall within track volume or capture volume within the time limit (discarded), Sensor data falls near previous sensor data not associated with a track and a new track is developed, Sensor data falls within the volume of an existing track and is added to track history for that track, Scrolling notifications for new tracks, split tracks, and join tracks, This page was last edited on 23 September 2022, at 11:11. Next Event Estimation cannot be used to sample these paths directly from the diffuse surface, because the specular interaction is in the middle. g+G"n7.cw]QIuCNgb\X&G]M:^A rg5 Systems that lack MTI must reduce receiver sensitivity or prevent transition to track in heavy clutter regions. Embodiments related to methods and systems for localizing a vehicle on a road surface are described. Abstract. important path tracking models and control algorithms from the vast background and resources. This forced all surfaces to be Lambertian, or "perfectly diffuse". All the samples are then averaged to obtain the output color. Instead of generating random paths, new sampling paths are created as slight mutations of existing ones. An extended version of the algorithm is realized by volumetric path tracing, which considers the light scattering of a scene. This illuminance is then reduced by a surface reflectance function (BRDF) to determine how much of it will go towards the viewpoint camera. Don't you get any job. Transition to track is manual for non-Newtonian signal sources, but additional signal processing can be used to automate the process. A 2D radar with a fan beam produces no altitude information. Path-following is achieved in much the same way as direction-following, except that the robot's goal direction is chosen according to the Pure Pursuit path-following algorithm =-=[4]-=-. This is better than naive approach (generating all possible combinations of digits and then trying every combination one by one) as it drops a set of permutations whenever it backtracks. The backtracking algorithm is used in various applications, including the N-queen problem . To solve the problem of the high estimation of the Q-value of the DDPG algorithm and slow training speed, the controller adopts the deep deterministic policy . Each new detection reported from incoming sensor data is fed into the track algorithm, which is used to drive displays. In particular, in the naive case, the reflectance of a diffuse BRDF must not exceed Civilian air traffic control personnel use leaders produced by the track algorithm to alert pilots when the future position of two tracks violate the separation limit. Amidi[l J's masters thesis contains the results of . Object detection algorithms detect the position and shape of obstacles using camera or LiDAR sensors with pattern . While tracking the global path, the vehicle checks for obstacles in its path. It also includes custom analog computers, like the Mark I Fire Control Computer used with radar data to aim guns, missiles, and torpedoes associated with military air traffic control and waterway management. Then the look- ahead distance is adjusted online through the adjusted driving speed, and the desired front-wheel turning angle is obtained using a pure pursuit algorithm in combination with the look-ahead distance adaptive strategy. 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