A Path Tracking Method For Autonomous Mobile Robots Based On Grid Decomposition
نویسندگان
چکیده
This paper presents an algorithm for path following applications represented by grid decomposition in order to provide smooth tracking. In the first stage, the method calculates the corners that define the path based on a vision algorithm proposed by [2], so a new reference trajectory is composed of a sequence of straight lines. Then, the reference path is divided into a set of equispaced points. Using this new path, the path tracking algorithm computes the steering commands for the robot employing the pure pursuit algorithm [1]. This technique is simple and easy to implement. The full method of path planning and path tracking has been successfully implemented in the Nomad 200 mobile robot.
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