Research on path tracking algorithm of differential drive robots based on lookahead distance adaptive

Mingzhi He; Peng Ji; Fengying Ma

doi:10.1117/12.3034258

16 October 2024 Research on path tracking algorithm of differential drive robots based on lookahead distance adaptive

Mingzhi He, Peng Ji, Fengying Ma

Proceedings Volume 13291, Ninth International Symposium on Advances in Electrical, Electronics, and Computer Engineering (ISAEECE 2024); 132916M (2024) https://doi.org/10.1117/12.3034258
Event: Ninth International Symposium on Advances in Electrical, Electronics, and Computer Engineering (ISAEECE 2024), 2024, Changchun, China

Abstract

This article introduces an enhanced pure pursuit algorithm with adaptive lookahead distance to address the issues of tracking loss and error accumulation when tracking the curve trajectory. Firstly, the basic principles and implementation methods of the pure pursuit algorithm are introduced, and the limitations of the pure pursuit algorithm are analyzed. Then, improvement strategies are proposed to address these limitations by incorporating the curvature of the target path into the calculation of the lookahead distance, dynamically adjusting the lookahead distance in real-time, and dynamically adjusting the robot speed to enhance the accuracy and stability of path tracking. Finally, the effectiveness and performance advantages of the proposed algorithm are validated in MATLAB platform. The experimental results illustrate that, in comparison to the traditional pure pursuit algorithm, the algorithm presented in this paper exhibits a significant enhancement in tracking performance, especially when tracing curved trajectories.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Mingzhi He, Peng Ji, and Fengying Ma "Research on path tracking algorithm of differential drive robots based on lookahead distance adaptive", Proc. SPIE 13291, Ninth International Symposium on Advances in Electrical, Electronics, and Computer Engineering (ISAEECE 2024), 132916M (16 October 2024); https://doi.org/10.1117/12.3034258

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KEYWORDS

Detection and tracking algorithms

Robots

Evolutionary algorithms

Angular velocity

Computer simulations

Mobile robots

Kinematics

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