Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Rolling Resistance: Problem Solving

Rolling Resistance: Problem Solving

Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...

Observational Learning

Observational Learning

Albert Bandura's observational learning, also known as imitation or modeling, occurs when a person observes and imitates another's behavior. It is a quicker process than operant conditioning. A well-known example is the Bobo doll study, where children who saw an adult acting aggressively towards the doll were more likely to act aggressively when left alone, compared to those who observed a nonaggressive adult. Many psychologists view observational learning as a form of latent learning...

Rolling Resistance

Rolling Resistance

When a solid cylinder rolls steadily on a rigid surface, the normal force applied by the surface on the cylinder is perpendicular to the tangent at the contact point. However, since no materials are entirely rigid, the surface's reaction to the cylinder involves a range of normal pressures.
For instance, imagine a hard cylinder rolling on a comparatively soft surface. The cylinder's weight compresses the surface beneath it. As the cylinder moves, the material in front of it slows down due to...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Road-Adaptive Precise Path Tracking Based on Reinforcement Learning Method.

Sensors (Basel, Switzerland)·2025

See all related articles

Search research articles

Related Experiment Video

Updated: Jan 15, 2026

Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

Published on: April 23, 2020

Lightweight Road Adaptive Path Tracking Based on Soft Actor-Critic RL Method.

Yubo Weng¹, Jinhong Sun²

¹Beijing-Dublin International College Electronic Information Engineering, Beijing University of Technology, Beijing 100124, China.

Sensors (Basel, Switzerland)

|October 16, 2025

Summary

This summary is machine-generated.

This study introduces a speed-adaptive robot path-tracking system using adaptive soft actor-critic (ASAC) and Stanley methods. The framework achieves accurate path following by dynamically adjusting speed and steering based on road and vehicle conditions.

Keywords:

Stanley method path tracking road surface adaptive road surface detection soft actor-critic speed-adaptive

More Related Videos

Tracking Rats in Operant Conditioning Chambers Using a Versatile Homemade Video Camera and DeepLabCut

Tracking Rats in Operant Conditioning Chambers Using a Versatile Homemade Video Camera and DeepLabCut

Published on: June 15, 2020

A Real-Time Interactive System for Studying Confrontational Pursuit Behavior in Rodents

A Real-Time Interactive System for Studying Confrontational Pursuit Behavior in Rodents

Published on: May 16, 2025

Related Experiment Videos

Last Updated: Jan 15, 2026

Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

Published on: April 23, 2020

Tracking Rats in Operant Conditioning Chambers Using a Versatile Homemade Video Camera and DeepLabCut

Tracking Rats in Operant Conditioning Chambers Using a Versatile Homemade Video Camera and DeepLabCut

Published on: June 15, 2020

A Real-Time Interactive System for Studying Confrontational Pursuit Behavior in Rodents

A Real-Time Interactive System for Studying Confrontational Pursuit Behavior in Rodents

Published on: May 16, 2025

Area of Science:

Robotics
Artificial Intelligence
Control Systems

Background:

Accurate robot path tracking is crucial for autonomous systems.
Existing methods often struggle with dynamic speed adaptation and varying road conditions.

Purpose of the Study:

To develop a speed-adaptive robot path-tracking framework for enhanced accuracy.
To integrate Lidar-Inertial Odometry Simultaneous Localization and Mapping (LIO-SLAM) for precise localization.
To leverage adaptive soft actor-critic (ASAC) for dynamic control adjustments.

Main Methods:

Utilized LIO-SLAM for 100 Hz robot pose estimation.
Employed Rapidly exploring Random Tree (RRT) for global path planning and A* for local obstacle avoidance.
Integrated U-Net for road surface classification and ASAC for adaptive speed and steering control via the Stanley method.

Main Results:

The proposed STANLY_ASAC framework demonstrated accurate path following in diverse scenarios.
Adaptive control adjusted vehicle acceleration and lateral deviation gain effectively.
Road surface classification improved tracking accuracy by compensating for coefficient errors.

Conclusions:

The speed-adaptive framework offers robust and accurate robot path tracking.
Adaptive control based on road and vehicle state is key to performance.
The integration of LIO-SLAM, RRT, A*, U-Net, ASAC, and Stanley methods provides a comprehensive solution.