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In order to improve the transmission accuracy and efficiency of sensing and actuating signals in Internet of Things (IoT) and ensure the system stability,an adaptive resource allocation algorithm is proposed,which dynamically assigns the network bandwidth and priority among components according to their signals frequency domain characteristics.A remote sensed and controlled unmanned ground vehicle (UGV) path tracking test-bed was developed and multiple UGVs tracking error signals were measured in the simulation for performance evaluation.Results show that with the same network bandwidth constraints,the proposed algorithm can reduce the accumulated and maximum errors of UGV path tracking by over 60％ compared with the conventional static algorithm.