VINet: Visual and Inertial-based Terrain Classification and Adaptive Navigation over Unknown Terrain

no code implementations • 16 Sep 2022 • Tianrui Guan, Ruitao Song, Zhixian Ye, Liangjun Zhang

We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces.

Classification Scheduling

Autonomous Wheel Loader Trajectory Tracking Control Using LPV-MPC

no code implementations • 16 Mar 2022 • Ruitao Song, Zhixian Ye, Liyang Wang, Tianyi He, Liangjun Zhang

With the nonlinear dynamic model of a wheel loader, nonlinear model predictive control (MPC) is used in offline trajectory planning to obtain a high-performance state-control trajectory while satisfying the state and control constraints.

Computational Efficiency Model Predictive Control +1