RT Journal Article
T1 Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
A1 Morales-Rodríguez, Jesús
A1 Martínez-Rodríguez, Jorge Luis
A1 Martínez-Sánchez, María Alcázar
A1 Mandow, Anthony
K1 Vehículos autodirigidos
AB Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation ofnonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths thatare implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of rangedata from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a roboticmission 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.
PB Springer
YR 2009
FD 2009
LK https://hdl.handle.net/10630/29985
UL https://hdl.handle.net/10630/29985
LA eng
NO Morales, J., Martínez, J.L., Martínez, M.A. et al. Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner. EURASIP J. Adv. Signal Process. 2009, 935237 (2009). https://doi.org/10.1155/2009/935237
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026