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

  • Jesús Morales
  • Jorge L Martínez
  • María A Martínez
  • Anthony Mandow
Open Access
Research Article
Part of the following topical collections:
  1. Signal Processing Advances in Robots and Autonomy

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- Open image in new window in an indoor environment.

Keywords

Mobile Robot Quantum Information Environmental Feature Indoor Environment Reactive Path 

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Copyright information

© Jesús Morales et al. 2009

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Authors and Affiliations

  • Jesús Morales
    • 1
  • Jorge L Martínez
    • 1
  • María A Martínez
    • 1
  • Anthony Mandow
    • 1
  1. 1.E.T.S. Ingenieros IndustrialesUniversidad de MálagaMálagaSpain

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