Table 4 Performance of two methods for straight-path following control.
From: Vision-based adaptive path following controller for 4W mobile robots on varied terrains
Line (\(^{o}\)) | Rise Time (s) | Settling Time (s) | Overshoot (m) | |||
|---|---|---|---|---|---|---|
\(\alpha _{\omega -fixed}\) | \(\alpha _{\omega -adaptive}\) | \(\alpha _{\omega -fixed}\) | \(\alpha _{\omega -adaptive}\) | \(\alpha _{\omega -fixed}\) | \(\alpha _{\omega -adaptive}\) | |
0 | 10.81 | 11.28 | >30 | 11.28 | 0.0945 | <0.04 |
45 | 5.142 | 6.822 | >30 | 13 | 0.1418 | <0.04 |
90 | 5.642 | 7.082 | >30 | 7.082 | 0.2271 | <0.04 |
135 | 4.965 | 4.42 | >30 | 20.44 | 0.597 | 0.2297 |
