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


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.

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Correspondence to Jesús Morales.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Morales, J., Martínez, J.L., Martínez, M.A. et al. Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner. EURASIP J. Adv. Signal Process. 2009, 935237 (2009).

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