Adaptive path tracking for unmanned ground vehicle

Abstract

Abstract-UGV (Unmanned Ground Vehicle) have many potential applications in a variety of areas. Path tracking is a crucial issue for UGV and one of the most popular methods for path tracking is the PPA (Pure Pursuit Algorithm). Most of researches using the PPA only consider the look-ahead distance as a constant parameter or a function. Whereas in fact, the look-ahead distance is affected by some elements and it would directly influence the effect of path tracking. In this paper, an adaptive path tracking method based on the PPA for UGV is proposed, in which the look-ahead distance is selected in a range of value by comparing distance error between the planned path and the actual path. This proposed method will reduce tracking error in some road condition. The results of experiments show that, compared with the classical PPA, the performance in the effectiveness and accuracy of using the adaptive path tracking method is improved.Keywords-Unmanned Ground Vehicle (UGV); Pure Pursuit Algorithm (PPA); the look-ahead distance; distance error.

Vision-Guided Tracking and Emergency Landing for UAVs on Moving Targets

“…The Pure Pursuit approach establishes a continuous curved trajectory connecting the current UAV position to a point predetermined at a specified distance ahead of the UGV (see Figures 9 and 10) [33][34][35][36][37]. A reduced lookahead distance necessitates more precise path tracking, improving the system's ability to follow paths with higher curvature.…”