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Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space

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Bibliographic Details
Title: Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space
Authors: Izzati Saleh, Azwati Azmin, Azan Yunus, Wan Rahiman
Source: Pertanika Journal of Science and Technology. 32:99-111
Publisher Information: Universiti Putra Malaysia, 2023.
Publication Year: 2023
Subject Terms: 0209 industrial biotechnology, 0202 electrical engineering, electronic engineering, information engineering, 02 engineering and technology
Description: 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. The optimal Look Ahead Distance value is combined with the VFH+ algorithm for obstacle avoidance. The method is enhanced by adding the λ weight so the robot returns to its waypoints after avoiding an obstacle. The investigation reveals that λ influences the mobile robot’s capacity to return to its predetermined waypoints after avoiding an obstacle. Based on the simulation experiment, the optimal LAD value is 0.2m, and the optimal λ value is 0.8.
Document Type: Article
Language: English
ISSN: 2231-8526
DOI: 10.47836/pjst.32.1.06
Accession Number: edsair.doi...........e2ec6edb4b922a24c921d7e5d65ffe3d
Database: OpenAIRE
Description
Abstract: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. The optimal Look Ahead Distance value is combined with the VFH+ algorithm for obstacle avoidance. The method is enhanced by adding the λ weight so the robot returns to its waypoints after avoiding an obstacle. The investigation reveals that λ influences the mobile robot’s capacity to return to its predetermined waypoints after avoiding an obstacle. Based on the simulation experiment, the optimal LAD value is 0.2m, and the optimal λ value is 0.8.
ISSN:22318526
DOI:10.47836/pjst.32.1.06