Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner

Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environ...

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Bibliographic Details
Published inEURASIP journal on advances in signal processing Vol. 2009; no. 1
Main Authors Morales, Jesús, Martínez, Jorge L, Martínez, María A, Mandow, Anthony
Format Journal Article
LanguageEnglish
Published Cham Springer International Publishing 01.01.2009
SpringerOpen
Subjects
Engineering
Quantum Information Technology
Research Article
Signal Processing Advances in Robots and Autonomy
Signal,Image and Speech Processing
Spintronics
Quantum Information
Reactive Path
Mobile Robot
Indoor Environment
Environmental Feature
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Summary:Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a robotic mission can be composed of a combination of different types of path segments. These techniques have been successfully tested in the tracked mobile robot Auriga- in an indoor environment.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:1687-6180
1687-6172
1687-6180
DOI:10.1155/2009/935237