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  • Research Article
  • Open Access

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

  • 1Email author,
  • 1,
  • 1 and
  • 1
EURASIP Journal on Advances in Signal Processing20092009:935237

  • Received: 31 July 2008
  • Accepted: 30 January 2009
  • Published:


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.


  • Mobile Robot
  • Quantum Information
  • Environmental Feature
  • Indoor Environment
  • Reactive Path

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Authors’ Affiliations

E.T.S. Ingenieros Industriales, Universidad de Málaga, 29071 Málaga, Spain


© 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.