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.
