Tamas Szepe and Samy F.M. Assal
Wheeled mobile robots, trajectory planning, trajectory tracking, pure pursuit method
Trajectory planning and tracking are common autonomous motion control problems for mobile robot navigation. To track a trajectory, real-time trajectory planning must be first achieved. In this paper, a real-time trajectory planning that satisfies the velocity and the acceleration constraints imposed by the robot is used. Then, a geometric-based pure pursuit trajectory tracking approach is developed. In the developed approach, the original lookahead distance of the method is radically changed to be an updating time-dependent lookahead distance satisfying the velocity and the acceleration constraints which are implicitly considered by the planned trajectory. Experiments are conducted on the differential drive Koala II mobile robot to validate the developed method. A comparative study with the well-known time-varying state tracking controllers both linear and nonlinear takes place to show the effectiveness of the developed method. The results show high accuracy tracking errors of the developed approach.
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