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Path Tracking Control of Tracked Paver Based on Improved Pure Pursuit Algorithm
2021 40th Chinese Control Conference (CCC), 2021This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation system. As the paver is performing paving operations, it requires high path tracking accuracy and good vehicle stability. Therefore, considering the influence of road curvature on path tracking accuracy and vehicle stability, and ...
Shuai Wang +3 more
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The improved pure pursuit algorithm for autonomous driving advanced system
2017 IEEE 10th International Workshop on Computational Intelligence and Applications (IWCIA), 2017The pure pursuit algorithm is one of the hottest research fields of autonomous driving advanced system as well as a major means for realizing intelligent operating of autonomous driving advanced system in future. This paper presents a thorough research on GPS automatic navigation technology of autonomous driving advanced system considering that working
Wei-Jen Wang +2 more
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Enhancement of pure-pursuit path-tracking algorithm with multi-goal selection
2019 1st IEEE International Conference on Gridding and Polytope Based Modeling and Control (GPMC), 2019In this paper, we present an enhancement to the popular pure-pursuit algorithm, widely used in robotics and automotive applications. The original algorithm is simple and straightforward as it depends only on the very basic attributes of the kinematic model of the target mechanical system. The algorithm is usually tuned by choosing a look-ahead distance
Ernő Horváth +2 more
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Lateral control of an autonomous vehicle based on Pure Pursuit algorithm
2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), 2017Autonomous vehicle is a widely researched area, especially over the past three decades. The developments in this field are boosted mainly by the DARPA challenges organized from 2004. Autonomous vehicle has different fields of study, out of which the problem of path tracking is considered here.
Dhanya S Lal, A Vivek, Gopinath Selvaraj
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Research on Parking Control of Bus Based on Improved Pure Pursuit Algorithms
2019 18th International Symposium on Distributed Computing and Applications for Business Engineering and Science (DCABES), 2019Compared with small vehicles, the bus body is longer and the parking path is relatively shorter. If there are some errors in the path tracking process, there will be the risk of crossing the parking line. Therefore, the parking system of bus needs a high precision path tracking algorithm.
Hao Li +5 more
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Pertanika Journal of Science and Technology, 2023
This research analyses Pure-pursuit algorithm parameters for nonholonomic mobile robot navigation in unstructured and constrained space. The simulation-based experiment is limited to the mobile robot arrangement. The Look Ahead Distance parameter is adjusted so the mobile robot can navigate the predefined map closely following the waypoints.
Izzati Saleh +3 more
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This research analyses Pure-pursuit algorithm parameters for nonholonomic mobile robot navigation in unstructured and constrained space. The simulation-based experiment is limited to the mobile robot arrangement. The Look Ahead Distance parameter is adjusted so the mobile robot can navigate the predefined map closely following the waypoints.
Izzati Saleh +3 more
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An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle
Applied Mechanics and Materials, 2014An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicles structural and steering features is applied in the method.
Miao Miao Quan +5 more
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GPS-Based Curve Estimation for an Adaptive Pure Pursuit Algorithm
2017Different algorithms for path tracking have been described and implemented for autonomous vehicles. Traditional geometric algorithms like Pure Pursuit use position information to compute vehicle’s steering angle to follow a predefined path. The main issue of these algorithms resides in cutting corners since no curvature information is taken into ...
Citlalli Gámez Serna +3 more
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Path Tracking Control of Wheeled Mobile Robot Based on Improved Pure Pursuit Algorithm
2019 Chinese Automation Congress (CAC), 2019In the research on the path tracking control of wheeled mobile robot, path tracking accuracy of Pure Pursuit algorithm is poor. The tracking effect of Pure Pursuit algorithm is affected by the preview distance L d . To solve this problem, an improved Pure Pursuit algorithm is proposed, and a rule of adaptive adjustment of preview distance is designed ...
Sun Qinpeng +5 more
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