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

2009 ◽  
Vol 2009 (1) ◽  
Author(s):  
Jesús Morales ◽  
Jorge L Martínez ◽  
María A Martínez ◽  
Anthony Mandow
Keyword(s):  
Mobile Robots ◽  
Laser Scanner ◽  
Path Tracking ◽  
Nonholonomic Mobile Robots ◽  
Pure Pursuit

Control Algorithm for the Path Tracking of the Nonholonomic Mobile Robots

2015 ◽  
Vol 816 ◽  
pp. 154-159
Author(s):  
Ľubica Miková ◽  
Alexander Gmiterko ◽  
Jaromír Jezný
Keyword(s):  
Computer Simulation ◽  
Mobile Robots ◽  
Control Algorithm ◽  
Path Tracking ◽  
Nonholonomic Mobile Robots ◽  
Tracking Controllers

Many applications in robotics require precise tracking of the prescribed path. The classic “tracking controllers” are not appropriate for this type of tasks, because they do not guarantee that the robot remains on the prescribed path. The aim of this paper is to propose and to verify, by means of computer simulation, the method of control, which ensures that the “output” of the robot will move along the prescribed path.

Gaussian Kernel Controller for Path Tracking in Mobile Robots

2018 ◽  
Author(s):  
Bijo Sebastian ◽  
Adam Williams ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mobile Robots ◽  
Real Life ◽  
Path Tracking ◽  
Gaussian Kernel ◽  
Robot Motion ◽  
Future Directions ◽  
Gaussian Kernels ◽  
Smooth Motion ◽  
Tracking Controller ◽  
Pure Pursuit

This paper describes the design of a Gaussian kernel based path tracking controller for mobile robots. In order to achieve successful navigation under hybrid navigation architectures, it is critical for the robot to follow the path provided by a highlevel planner even while moving between waypoints. This is particularly difficult in real life situations involving robot motion in challenging terrains. Existing controllers for this purpose such as the pure pursuit does not ensure smooth motion of the robot or accurate tracking while moving between path segments. This paper describes the design of a controller that can ensure accurate path tracking even in the presence of disturbances, by utilizing the gradients of moving Gaussian kernels. In order to characterize the performance of the proposed controller, two different sets of simulations are conducted. Based on the results of the simulations, the Gaussian kernel controller ensures accurate tracking of the provided reference path while addressing the shortcomings of existing controllers. The paper concludes with a discussion on future directions for improvement.

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