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

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Názov: Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space
Autori: Izzati Saleh, Azwati Azmin, Azan Yunus, Wan Rahiman
Zdroj: Pertanika Journal of Science and Technology. 32:99-111
Informácie o vydavateľovi: Universiti Putra Malaysia, 2023.
Rok vydania: 2023
Predmety: 0209 industrial biotechnology, 0202 electrical engineering, electronic engineering, information engineering, 02 engineering and technology
Popis: 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.
Druh dokumentu: Article
Jazyk: English
ISSN: 2231-8526
DOI: 10.47836/pjst.32.1.06
Prístupové číslo: edsair.doi...........e2ec6edb4b922a24c921d7e5d65ffe3d
Databáza: OpenAIRE
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  Data: Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space
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  Data: <i>Pertanika Journal of Science and Technology</i>. 32:99-111
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  Data: Universiti Putra Malaysia, 2023.
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  Data: 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.
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      – SubjectFull: 0202 electrical engineering, electronic engineering, information engineering
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