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Research and Implement of Mobile Robot Using the Adaptive Pure Pursuit Algorithm
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Abstract
One of the most important tasks of a mobile robot is trajectory tracking. This task is to maintain the stability of the movement direction to ensure a precise trajectory is achieved. Geometricbased controllers are relatively common and are deployed on mobile robots and autonomous vehicles, typically with the Pure Pursuit algorithm. In this paper, we focus on studying kinematics and deploying the adaptive Pure Pursuit algorithm on an independent two-wheeled mobile robot model. The algorithm is simulated using MATLAB/Simulink software to evaluate the trajectory tracking performance through the cases when changing the focal distance and velocity values. Simulation results are synthesized and evaluated to serve as a basis to propose a velocity-adaptive Pure Pursuit controller to improve the controller's performance. Then, design and build a mobile robot to evaluate the robot’s trajectory tracking performance in the real environment.
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Keywords
mobile robot, adaptive Pure Pursuit, kinematics, geometric-based controllers, trajectory tracking
References
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