{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T17:04:13Z","timestamp":1781975053343,"version":"3.54.5"},"reference-count":31,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2021,11,13]],"date-time":"2021-11-13T00:00:00Z","timestamp":1636761600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish government","award":["RTI2018-096590-B-I00"],"award-info":[{"award-number":["RTI2018-096590-B-I00"]}]},{"name":"Spanish government","award":["PRE2019-088467"],"award-info":[{"award-number":["PRE2019-088467"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, a two-wheel drive unmanned ground vehicle (UGV) path-following motion control is proposed. The UGV is equipped with encoders to sense angular velocities and a beacon system which provides position and orientation data. Whereas velocities can be sampled at a fast rate, position and orientation can only be sensed at a slower rate. Designing a dynamic controller at this slower rate implies not reaching the desired control requirements, and hence, the UGV is not able to follow the predefined path. The use of dual-rate extended Kalman filtering techniques enables the estimation of the fast-rate non-available position and orientation measurements. As a result, a fast-rate dynamic controller can be designed, which is provided with the fast-rate estimates to generate the control signal. The fast-rate controller is able to achieve a satisfactory path following, outperforming the slow-rate counterpart. Additionally, the dual-rate extended Kalman filter (DREKF) is fit for dealing with non-linear dynamics of the vehicle and possible Gaussian-like modeling and measurement uncertainties. A Simscape Multibody\u2122 (Matlab\u00ae\/Simulink) model has been developed for a realistic simulation, considering the contact forces between the wheels and the ground, not included in the kinematic and dynamic UGV representation. Non-linear behavior of the motors and limited resolution of the encoders have also been included in the model for a more accurate simulation of the real vehicle. The simulation model has been experimentally validated from the real process. Simulation results reveal the benefits of the control solution.<\/jats:p>","DOI":"10.3390\/s21227557","type":"journal-article","created":{"date-parts":[[2021,11,14]],"date-time":"2021-11-14T20:51:53Z","timestamp":1636923113000},"page":"7557","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2573-5041","authenticated-orcid":false,"given":"Rafael","family":"Carbonell","sequence":"first","affiliation":[{"name":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial, Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Val\u00e8ncia, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4466-2666","authenticated-orcid":false,"given":"\u00c1ngel","family":"Cuenca","sequence":"additional","affiliation":[{"name":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial, Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Val\u00e8ncia, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7040-4815","authenticated-orcid":false,"given":"Vicente","family":"Casanova","sequence":"additional","affiliation":[{"name":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial, Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Val\u00e8ncia, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8261-0045","authenticated-orcid":false,"given":"Ricardo","family":"Piz\u00e1","sequence":"additional","affiliation":[{"name":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial, Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Val\u00e8ncia, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9640-2658","authenticated-orcid":false,"given":"Juli\u00e1n J.","family":"Salt Llobregat","sequence":"additional","affiliation":[{"name":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial, Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Val\u00e8ncia, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,13]]},"reference":[{"key":"ref_1","unstructured":"Lozano-Perez, T. 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