Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner. (19th March 2009)

• Record Type: Journal Article
• Authors: Morales Morales, Jesús Jesús; Martínez Martínez, Jorge L. Jorge L.; Martínez Martínez, María A. María A.; Mandow Mandow, Anthony Anthony
• Other Names: Spaan Spaan Matthijs Matthijs Academic Editor.
• Is Part Of: EURASIP journal on advances in signal processing. Volume 2009(2009)
• Publication Date: 2009-03-19
• Subjects: Signal processing -- Periodicals; Traitement du signal; Signal processing; Periodicals; 621.3822
• DOI: 10.1155/2009/935237
• Languages: English
• ISSNs: 1687-6172

Abstract

Abstract : 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-α in an indoor environment.