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oai:riuma.uma.es:10630/299852026-02-03T11:10:56Zcom_10630_2254col_10630_37953

Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner Morales-Rodríguez, Jesús Martínez-Rodríguez, Jorge Luis Martínez-Sánchez, María Alcázar Mandow, Anthony Vehículos autodirigidos Reactive tracking Pure-pursuit Robotic mission 2D laser scanner Mobile robots 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. 2024-02-07T11:37:34Z 2024-02-07T11:37:34Z 2009 journal article VoR 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 eng open access application/pdf Springer