{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:07:54Z","timestamp":1760234874341,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2021,6,28]],"date-time":"2021-06-28T00:00:00Z","timestamp":1624838400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Natural Science Foundation of China","award":["51804019"],"award-info":[{"award-number":["51804019"]}]},{"name":"Youth Core Individuals Project of Beijing","award":["2017000020124G022"],"award-info":[{"award-number":["2017000020124G022"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["FRF-TP-18-010A2"],"award-info":[{"award-number":["FRF-TP-18-010A2"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Plan program","award":["2018YFC0604402"],"award-info":[{"award-number":["2018YFC0604402"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>Wheeled mobile robots are widely implemented in the field environment where slipping and skidding may often occur. This paper presents a self-adaptive path tracking control framework based on a radial basis function (RBF) neural network to overcome slippage disturbances. Both kinematic and dynamic models of a wheeled robot with skid-steer characteristics are established with position, orientation, and equivalent tracking error definitions. A dual-loop control framework is proposed, and kinematic and dynamic models are integrated in the inner and outer loops, respectively. An RBF neutral network is employed for yaw rate control to realize adaptability to longitudinal slippage. Simulations employing the proposed control framework are performed to track snaking and a DLC reference path with slip ratio variations. The results suggest that the proposed control framework yields much lower position and orientation errors compared with those of a PID and a single neuron network (SNN) controller. It also exhibits prior anti-disturbance performance and adaptability to longitudinal slippage. The proposed control framework could thus be employed for autonomous mobile robots working on complex terrain.<\/jats:p>","DOI":"10.3390\/a14070196","type":"journal-article","created":{"date-parts":[[2021,6,28]],"date-time":"2021-06-28T11:45:40Z","timestamp":1624880740000},"page":"196","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Self-Adaptive Path Tracking Control for Mobile Robots under Slippage Conditions Based on an RBF Neural Network"],"prefix":"10.3390","volume":"14","author":[{"given":"Yiting","family":"Kang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"}]},{"given":"Biao","family":"Xue","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"}]},{"given":"Riya","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,6,28]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges","volume":"86","author":"Amer","year":"2016","journal-title":"J. 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