2026-05-31T02:03:22Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/299852026-02-03T11:10:56Zcom_10630_2254col_10630_37953
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Morales-Rodríguez, Jesús
author
Martínez-Rodríguez, Jorge Luis
author
Martínez-Sánchez, María Alcázar
author
Mandow, Anthony
2024-02-07T11:37:34Z
2024-02-07T11:37:34Z
2009
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
https://hdl.handle.net/10630/29985
10.1155/2009/935237
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.
eng
Vehículos autodirigidos
Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
journal article
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URL
https://riuma.uma.es/bitstreams/414102e5-d794-4e76-8f49-22c992327390/download
File
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3959615
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935237.pdf