Evaluation of Autonomous Navigational Accuracy for Different Reference Points in PurePursuit Algorithm for Center-Steered Articulated Vehicles

Latif, Saira; Lindbäck, Torbjörn; Karlberg, Magnus

doi:10.1007/978-3-031-26889-2_18

Cited by 1 publication

(4 citation statements)

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“…From the geometry for the front reference (F) shown in Figure 1. below, the wanted steering angle can be derived [9] Thus, for a chosen look-ahead point (LP), look ahead angle (α), distance (ld) from front-axle midpoint reference(F), and length (L) of vehicle front part to articulated joint, following expression can be computed,…”

Section: A Purepursuit With Front Reference Point (Ppf)mentioning

confidence: 99%

“…The work presented in this paper is based on results of outdoor tests of our previously evaluated simulation-based autonomous navigation system built on two versions of PurePursuit algorithm for an articulated vehicle platform. [9] PurePursuit algorithm is one of the preferable choices for low-speed navigation applications due to its platform independency and simplicity and has been widely investigated for various systems since its inception e.g., in cars, articulated vehicles [10] and six wheeled skid steered robot at CMU [11]. Several studies have evaluated PurePursuit algorithm for various reference points, lookahead distance and various initial positions mostly in simulation environment or for regular vehicles.…”

Section: Introductionmentioning

confidence: 99%

“…However, this reference point is not independent of the steering angle (as in wheel steered vehicles) and thus, a steering action by itself induces positioning errors which in turn affects the navigational accuracy. To avoid this problem, a virtual-midpoint being less dependent on the steering angle have been proposed and verified through simulations [9] . A related work of [21]also examined motion stability by choosing such an intermediated point for reverse and forward maneuverability of articulated vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…FIGURE 2. PurePursuit geometric representation for articulated vehicle with virtual-midpoint heading (M)-PPV[9] …”

mentioning

confidence: 99%

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Outdoor Tests of Autonomous Navigation System Based on Two Different Reference Points of PurePursuit Algorithm for 10-ton Articulated Vehicle

Latif,

Lindbäck,

Lideskog

et al. 2024

IEEE Access

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This work presents outdoor test results of autonomous navigation system based on two different reference points of PurePursuit algorithm for a 10-ton articulated research platform. PurePursit is commonly used simplified tracking algorithm based on geometric calculation of desired steering angle by pursuing certain number of points/distance ahead on given path from a fixed reference point of vehicle. Choice of fixed reference point effects the tracking accuracy particularly for articulated/center-steered vehicles. In this experimental work, PurePursuit algorithm with a virtual reference point(PPV) and commonly used front-axle reference point(PPF) is evaluated for heavy duty articulated vehicles in outdoor experiments .Experimental data shows that choice of reference point in PurePursuit algorithm for articulated vehicle has impact on tracking accuracy in terms of crosstrack errors and heading errors. Navigation tests were performed on a flat asphalt surface for paths of sharp complexities i-e a path with continuous curvature (circular path) and a path with sharp turns (zigzag path) with different initial conditions i-e initial position of vehicle. In general, it can be concluded that PurePursuit algorithm with front reference point (PPF) produced fewer crosstrack errors while PurePursuit algorithm with virtual midpoint reference (PPV) produced fewer heading errors.

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Section: A Purepursuit With Front Reference Point (Ppf)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%