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A Novel Pure Pursuit Algorithm for Autonomous Vehicles Based on Salp Swarm Algorithm and Velocity Controller [PDF]

IEEE Access, 2020
Pure pursuit algorithm is one of the most effective ways of path tracking in autonomous vehicles. Nevertheless, the tracking accuracy of the existing pure pursuit algorithm is limited by the look-ahead distance.
Rui Wang, Ying Li, Jiahao Fan, Tan Wang, Xuetao Chen   +4 more
doaj   +4 more sources

A Pure Electric Driverless Crawler Construction Machinery Walking Method Based on the Fusion SLAM and Improved Pure Pursuit Algorithms [PDF]

Sensors, 2023
Driverless technology refers to the technology that vehicles use to drive independently with the help of driverless system under the condition of unmanned intervention.
Jiangdong Wu, Haoling Ren, Tianliang Lin, Yu Yao, Zhen Fang, Chang Liu   +5 more
doaj   +4 more sources

Performance Improvement of Pure Pursuit Algorithm via Online Slip Estimation for Off-Road Tracked Vehicle [PDF]

Sensors
The motion control of a tracked mobile robot remains an important capability for autonomous navigation. Kinematic path-tracking algorithms are commonly used in mobile robotics due to their ease of implementation and real-time computational cost advantage.
Çağıl Çiloğlu, Emir Kutluay
doaj   +3 more sources

Autonomous Navigation of a Center-Articulated and Hydrostatic Transmission Rover using a Modified Pure Pursuit Algorithm in a Cotton Field [PDF]

Sensors, 2020
This study proposes an algorithm that controls an autonomous, multi-purpose, center-articulated hydrostatic transmission rover to navigate along crop rows.
Kadeghe Fue, Wesley Porter, Edward Barnes, Changying Li, Glen Rains   +4 more
doaj   +5 more sources

Enhanced Pure Pursuit Path Tracking Algorithm for Mobile Robots Optimized by NSGA-II with High-Precision GNSS Navigation [PDF]

Sensors
With the rapid development of automation and intelligent technology, mobile robots have shown wide application potential in many fields, and accurate navigation systems are the key to robots completing tasks.
Xiongwen Jiang, Taiga Kuroiwa, Yu Cao, Linfeng Sun, Haohao Zhang, Takahiro Kawaguchi, Seiji Hashimoto   +6 more
doaj   +4 more sources

Path tracking control method for tracked agricultural vehicles based on slip-aware look-ahead point offset [PDF]

Frontiers in Plant Science
IntroductionTracked agricultural vehicles operating in complex farmland environments are prone to track slip, which degrades path-tracking accuracy and may lead to unstable motion.
Huanyu Liu, Zhihang Han, Jiaqin Yin, Junwei Bao, Jian Mu, Hewen Tan, Xiangnan Liu   +6 more
doaj   +2 more sources

Optimization of the Pure Pursuit algorithm based on real-time error

Alexandria Engineering Journal
To address the issues of vehicle overshoot on high-curvature paths (with a curvature radius less than 15 m) and the poor tracking performance on continuous turning paths in the traditional Pure Pursuit (PP) algorithm, this paper proposes an optimized ...
Fengyun Cao, Dengtao Wu, Yuxin Wu
doaj   +2 more sources

Steer Guidance Of Autonomous Agricultural Robot Based On Pure Pursuit Algorithm And LiDAR Based Vector Field Histogram

Journal of Applied Science and Engineering, 2023
The application of autonomous robots has been increasing in agriculture sector to substitute human labour and to improve the production yields. A self-sufficient robot is intended to accomplish specific jobs in different locations of the working field ...
Rai Bijay, Matsa Amarendra, Datta Asim
doaj   +2 more sources

Path Tracking Control of Agricultural Automatic Navigation Vehicles Based on an Improved Sparrow Search-Pure Pursuit Algorithm

Agriculture
A pure pursuit method based on an improved sparrow search algorithm is proposed to address low path-tracking accuracy of intelligent agricultural machinery in complex farmland environments.
Junhao Wen, Liwen Yao, Jiawei Zhou, Zidong Yang, Lijun Xu, Lijian Yao   +5 more
doaj   +2 more sources

PP-ST: An Indoor Mobile Robot Path Tracking Algorithm

IEEE Access, 2023
Aiming at the problems that Pure Pursuit algorithm is too slow to approach the target path and take shortcuts at the corners under long forward-looking distance, and large heading jitter at the corners of the target path under short forward-looking ...
Yibo Cao, Jiaheng Zhao, Haiwen Zhu, Zhengdong Yang, Jingwen Fan   +4 more
doaj   +1 more source