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

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-α in an indoor environment.

An Intelligent Control System for Mobile Robot Navigation Tasks in Surveillance

“…It is important in surveillance, and it has received increasing attentions more recently [1], [4]- [8].One task for the intelligent control of a mobile robot in this study is moving target tracking or capturing and obstacles avoidance. It is assumed that the target moves along a trajectory that is either well-defined and known a priori or unknown.…”

“…In [4], using velocity vectors of the robot relative to each obstacle, an online navigation method based on calculating the best feasible direction close to an optimal direction to the target is proposed for pursuing a moving target amidst dynamic and static obstacles. Adaptive learning control for pursuit-evasion were presented in [6], [7], and experiments on capturing a moving object using pure pursuit were shown in [8]. …”

“…The robot has onboard sensors that continuously locate the moving target. A pure pursuit is one way to specify how to do repetitive new course calculations: target update based on look ahead distance [8]. A simulation of pure pursuit for one-dimensional moving point target is shown in Fig.…”

“…Developing various intelligence services, for example intelligent surveillance and patrol systems, is of emerging demand to support human society [6]- [7]. As an intelligent mechatronics system, the mobile robot needs to integrate algorithms related to environment sensing for obstacle detection and SLAM, behavior and route planning, controlling and executing [8]. The focus of its development is on how to make the mobile robots capable of safely, effectively and efficiently operating in various ways in real, unknown environments which may involve interacting with human activities.…”

Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans

“…Simpler procedures employ, at least, matched consecutive laser scans [5]. Pedestrians are usually regarded as dynamic obstacles that should be avoided [8], but they can also be followed at a certain distance [10,19].…”