Open Access

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

  • Jesús Morales1Email author,
  • Jorge L Martínez1,
  • María A Martínez1 and
  • Anthony Mandow1
EURASIP Journal on Advances in Signal Processing20092009:935237

Received: 31 July 2008

Accepted: 30 January 2009

Published: 19 March 2009


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.

Publisher note

To access the full article, please see PDF.

Authors’ Affiliations

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


© 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.