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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

https://doi.org/10.1155/2009/935237

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

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.

Keywords

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

Publisher note

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Authors’ Affiliations

(1)
E.T.S. Ingenieros Industriales, Universidad de Málaga, 29071 Málaga, Spain

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