tailieunhanh - Báo cáo hóa học: " Research Article Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Research Article Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2009 Article ID 935237 10 pages doi 2009 935237 Research Article Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner Jesus Morales Jorge L. Martinez Maria A. Martinez and Anthony Mandow . Ingenieros Industriales Universidad de Malaga 29071 Malaga Spain Correspondence should be addressed to Jesus Morales Received 31 July 2008 Revised 5 December 2008 Accepted 30 January 2009 Recommended by Matthijs Spaan 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-a in an indoor environment. Copyright 2009 Jesus Morales et al. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. 1. Introduction A mobile robot path can be defined as the course that the vehicle has to follow in the environment. It should be useful for carrying out the mobile robot mission and admissible from the vehicle s kinematic and dynamic standpoints. Path following is performed by the path tracking controller. Its goal is to autonomously drive the mobile robot along the path by continually generating speed and steering commands that compensate for the tracking errors. These mainly .