Multi point pure pursuit

2020 ◽  
Author(s):  
Derek J. Chopp ◽  
Nathan Spike ◽  
Jeremy P. Bos ◽  
Darrell Robinette
Keyword(s):  
Pure Pursuit

scholarly journals Autonomous Mobile Robot Navigation in Sparse LiDAR Feature Environments

2021 ◽  
Vol 11 (13) ◽  
pp. 5963
Author(s):  
Phuc Thanh-Thien Nguyen ◽  
Shao-Wei Yan ◽  
Jia-Fu Liao ◽  
Chung-Hsien Kuo
Keyword(s):  
Robot Navigation ◽  
Tracking Error ◽  
Unmanned Vehicles ◽  
Mobile Robot Navigation ◽  
Selection Strategy ◽  
Localization And Mapping ◽  
Pure Pursuit ◽  
Stable Performance ◽  
Large Curve ◽  
Moving Speed

In the industrial environment, Autonomous Guided Vehicles (AGVs) generally run on a planned route. Among trajectory-tracking algorithms for unmanned vehicles, the Pure Pursuit (PP) algorithm is prevalent in many real-world applications because of its simple and easy implementation. However, it is challenging to decelerate the AGV’s moving speed when turning on a large curve path. Moreover, this paper addresses the kidnapped-robot problem occurring in spare LiDAR environments. This paper proposes an improved Pure Pursuit algorithm so that the AGV can predict the trajectory and decelerate for turning, thus increasing the accuracy of the path tracking. To solve the kidnapped-robot problem, we use a learning-based classifier to detect the repetitive pattern scenario (e.g., long corridor) regarding 2D LiDAR features for switching the localization system between Simultaneous Localization And Mapping (SLAM) method and Odometer method. As experimental results in practice, the improved Pure Pursuit algorithm can reduce the tracking error while performing more efficiently. Moreover, the learning-based localization selection strategy helps the robot navigation task achieve stable performance, with 36.25% in completion rate more than only using SLAM. The results demonstrate that the proposed method is feasible and reliable in actual conditions.

scholarly journals Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review

2021 ◽  
Vol 10 (4) ◽  
pp. 1893-1904
Author(s):  
Putri Nur Farhanah Mohd Shamsuddin ◽  
Roshahliza M. Ramli ◽  
Muhamad Arifpin Mansor
Keyword(s):  
Line Of Sight ◽  
Control System Design ◽  
Actual Situation ◽  
Simulation Test ◽  
Ground Vehicle ◽  
Control Techniques ◽  
Guidance And Control ◽  
Pure Pursuit ◽  
Heading Estimation ◽  
And Control

An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehivle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows pure pursuit guidance is the most popular technique in AGV to control the degree-of-freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. In conclusion, the technique's simulation test needs further research that will expose in the actual situation.

The Air-to-air Missile Matra 530

1969 ◽  
Vol 73 (701) ◽  
pp. 449-452
Author(s):  
J. E. Cadoux
Keyword(s):  
Air Force ◽  
High Performance ◽  
First Generation ◽  
Second Generation ◽  
Point Of View ◽  
Ground Control ◽  
Close Link ◽  
Pure Pursuit ◽  
Very High ◽  
Pursuit Curve

The Matra 530 is currently called a second generation air-to-air missile. Indeed the first generation of air-to-air missiles was represented in France by the Nord 5103 which was command-guided, or the Matra 511 which was a semi-active, pure pursuit curve missile. In the second part of the 1950's the requirement was obvious for a sophisticated interception system capable of coping with the high and medium altitude threat represented by heavy and medium bombers. The destruction of this threat required a close link with an interception system composed of ground radars, ground control equipment, sophisticated high performance interceptor aircraft and, as a last link, a very high performance missile. From the French Air Force point of view, the two main characteristics of this missile as the last link of an interceptor system, were first its flexibility in different weather environment and counter measure environment; second, its capability to decrease to the maximum the penetration of the enemy bomber, which meant that the missile should be capable of attacking not only in the rear sector but also in frontal attack and in fact in all sectors around the attacking bomber.

scholarly journals Autonomous Navigation of a Center-Articulated and Hydrostatic Transmission Rover using a Modified Pure Pursuit Algorithm in a Cotton Field

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4412
Author(s):  
Kadeghe Fue ◽  
Wesley Porter ◽  
Edward Barnes ◽  
Changying Li ◽  
Glen Rains
Keyword(s):  
Autonomous Navigation ◽  
Low Cost ◽  
Path Following ◽  
Absolute Error ◽  
Satellite System ◽  
Measurement Unit ◽  
Cotton Field ◽  
Cotton Production ◽  
Hydrostatic Transmission ◽  
Pure Pursuit

This study proposes an algorithm that controls an autonomous, multi-purpose, center-articulated hydrostatic transmission rover to navigate along crop rows. This multi-purpose rover (MPR) is being developed to harvest undefoliated cotton to expand the harvest window to up to 50 days. The rover would harvest cotton in teams by performing several passes as the bolls become ready to harvest. We propose that a small robot could make cotton production more profitable for farmers and more accessible to owners of smaller plots of land who cannot afford large tractors and harvesting equipment. The rover was localized with a low-cost Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS), encoders, and Inertial Measurement Unit (IMU)s for heading. Robot Operating System (ROS)-based software was developed to harness the sensor information, localize the rover, and execute path following controls. To test the localization and modified pure-pursuit path-following controls, first, GNSS waypoints were obtained by manually steering the rover over the rows followed by the rover autonomously driving over the rows. The results showed that the robot achieved a mean absolute error (MAE) of 0.04 m, 0.06 m, and 0.09 m for the first, second and third passes of the experiment, respectively. The robot achieved an MAE of 0.06 m. When turning at the end of the row, the MAE from the RTK-GNSS-generated path was 0.24 m. The turning errors were acceptable for the open field at the end of the row. Errors while driving down the row did damage the plants by moving close to the plants’ stems, and these errors likely would not impede operations designed for the MPR. Therefore, the designed rover and control algorithms are good and can be used for cotton harvesting operations.

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