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Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
EURASIP Journal on Advances in Signal Processing volume 2009, Article number: 935237 (2009)
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-
in an indoor environment.
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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). https://doi.org/10.1155/2009/935237
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DOI: https://doi.org/10.1155/2009/935237
Keywords
- Mobile Robot
- Quantum Information
- Environmental Feature
- Indoor Environment
- Reactive Path