https://m2.mtmt.hu/ hun 2026-10-23 16:50 BookChapter 35773624 ADMIN_APPROVED true This research was supported by the Ministry of Culture and Innovation and the National Research, Development and Innovation Office within the Cooperative Technologies National Laboratory of Hungary (Grant No. 2022-2.1.1-NL-2022-00012) Project no. 2024-2.1.1-EKOP-2024-00003 has been implemented with the support provided by the Ministry of Culture and Innovation of Hungary from the National Research, De-velopment and Innovation Fund, financed under the EKOP-24-4-II funding scheme. 0 false 2026-02-10T08:42:10.847+0000 2025-08-22T09:02:48.711+0000 2025-02-20T06:57:32.511+0000 true 10041668 Bécsi Tamás /api/author/10041668 Author true 10041668 2025-08-22T09:02:45.400+0000 2025-08-22T09:02:45.400+0000 2025-08-22T09:02:48.714+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin true true false true 25 25 /api/publicationtype/25 PublicationType 2 true 25 BookChapter true 10000312 Conference paper true 25 25 /api/publicationtype/25 PublicationType 2 true 25 BookChapter /api/subtype/10000312 Konferenciaközlemény SubType 228 true 10000312 true 1 /api/category/1 Category true 1 Szabó, Ádám Modular Path-Following Control Architecture for Unmanned Ground Vehicles in ROS 2 Environment 000371 000376 000371 6 2025 The number of highly automated vehicles and mobile robots has recently increased significantly. This trend is also present in the case of agricultural and military vehicles that operate in off-road conditions. These vehicles show a wide range of varieties in size, steering systems, and type of running gear. This research aims to present a modular software architecture with an easily adaptable control algorithm for the path-tracking control of unmanned ground vehicles. The developed system has been applied to an 8x8 test vehicle platform and tested on a predefined trajectory at different traveling speeds. The results show that the system can follow the desired trajectory accurately. © 2025 IEEE. 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/api/reference/63830124 8 10.1109/CONTROL.2014.6915116 false true Reference 63830125 /api/reference/63830125 9 10.1109/ICSEngT.2018.8606361 false true Reference 63830126 /api/reference/63830126 10 10.1109/ANDESCON50619.2020.9272162 false true Reference 63830127 /api/reference/63830127 11 10.1109/ICUS50048.2020.9274962 false true Reference 63830128 /api/reference/63830128 12 10.1109/IROS.2018.8593843 false true Reference 63830129 /api/reference/63830129 13 false true Reference 63830130 /api/reference/63830130 14 false true Reference 63830131 /api/reference/63830131 15 10.1109/CAC48633.2019.8997258 false true Reference 63830132 /api/reference/63830132 16 10.1504/IJAMECHS.2020.112628 false true Reference 63830133 /api/reference/63830133 17 10.3390/electronics12112395 false true /api/publication/35773624 <div class="BookChapter Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10061397"><a href="/gui2/?type=authors&mode=browse&sel=10061397" target="_blank">Szabó Ádám (<span class="authorship-author-name">Szabó Ádám</span> <span class="authorAux-mtmt"> Járműmechatronika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Közlekedésmérnöki és Járműmérnöki Kar">KJK</span>/Közlekedés- és Járműirányítási Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10085326"><a href="/gui2/?type=authors&mode=browse&sel=10085326" target="_blank">Doba Dániel Károly (<span class="authorship-author-name">Doba Dániel Károly</span> <span class="authorAux-mtmt"> járműirányítás</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Közlekedésmérnöki és Járműmérnöki Kar">KJK</span>/Közlekedés- és Járműirányítási Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10063149"><a href="/gui2/?type=authors&mode=browse&sel=10063149" target="_blank">Fehér Árpád (<span class="authorship-author-name">Fehér Árpád</span> <span class="authorAux-mtmt"> közlekedés- és járműtudományok</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Közlekedésmérnöki és Járműmérnöki Kar">KJK</span>/Közlekedés- és Járműirányítási Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10041667"><a href="/gui2/?type=authors&mode=browse&sel=10041667" target="_blank">Aradi Szilárd (<span class="authorship-author-name">Aradi Szilárd</span> <span class="authorAux-mtmt"> Közlekedési</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Közlekedésmérnöki és Járműmérnöki Kar">KJK</span>/Közlekedés- és Járműirányítási Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;35773624" target="_blank">Modular Path-Following Control Architecture for Unmanned Ground Vehicles in ROS 2 Environment</a></div> <div class="InBook"><div class="chapter-in">In:</div> <div class="authors"> <div class="autype autype-1"> <span class="author-name" mtid="10039071"><a href="/gui2/?type=authors&mode=browse&sel=10039071" target="_blank">Szakál Anikó (<span class="authorship-author-name">Szakál Anikó</span> <span class="authorAux-mtmt"> műszaki informatika</span>) </a> </span> <span class="author-affil">Óbudai Egyetem</span> (szerk.) </div> </div> <div class="booktitle"><a href="/gui2/?mode=browse&params=publication;35705765" target="_blank">IEEE 23rd World Symposium on Applied Machine Intelligence and Informatics SAMI 2025 </a></div> <div class="conference"> Konferencia helye, ideje: <span class="location">Stará Lesna, Szlovákia <span class="conference-date">2025.01.23. - 2025.01.25.</span> </div> <span class="publishedAt">Piscataway (NJ): <span class="publishers">Institute of Electrical and Electronics Engineers (IEEE)</span>, <span class="page"> pp 000371-000376 </span> <span class="year">(2025)</span> ( <span class="seriesTitle">Proceedings - International Symposium on Applied Machine Intelligence and Informatics, SAMI</span> <span class="issn">2836-0834</span> <span class="issn">2767-9438</span> ) </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1109/SAMI63904.2025.10883299" target="_blank" href="https://doi.org/10.1109/SAMI63904.2025.10883299"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="105013061381" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-105013061381"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://ieeexplore.ieee.org/document/10883299/" target="_blank" href="https://ieeexplore.ieee.org/document/10883299/"> Egyéb URL </a> </span> </span> <span class="bookchapter-ids">Befoglaló link(ek):</span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9798350379365" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9798350379365"> 9798350379365 </a> </span> </span> <div class="mtid"><span class="long-pub-mtid">Közlemény: 35773624</span> | <span class="status-data status-ADMIN_APPROVED"> Admin láttamozott </span> <span class="long-book-mtid">Befoglaló: 35705765</span> Forrás | <span class="type-subtype">Könyvrészlet ( Konferenciaközlemény ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="funder"> Kooperatív Technológiák Nemzeti Laboratórium (KTNL)(2022-2.1.1-NL-2022-00012) Támogató: NKFIH </div> <div class="lastModified">Utolsó módosítás: 2025.08.22. 11:02 Andódy Katalin (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: This research was supported by the Ministry of Culture and Innovation and the National Research, Development and Innovation Office within the Cooperative Technologies National Laboratory of Hungary (Grant No. 2022-2.1.1-NL-2022-00012) Project no. 2024-2.1.1-EKOP-2024-00003 has been implemented with the support provided by the Ministry of Culture and Innovation of Hungary from the National Rese...</pre> </div> </div>