Generalized Voronoi Diagram Tracing of Nonholonomic Mobile Robot by Pure Pursuit

摘要：

This paper proposes the path planning and tracking method for a nonholonomic mobile robot, which is based on the generalized Voronoi diagram (GVD). The proposed method is an autonomous navigation method for solving motion tracking problem of the real nonholonomic mobile robot. We define the look-ahead point to get the direction of motion based on pure pursuit. This method can be used to direct the robot to explore the unknown environment. The simulation results are presented to verify the performance of proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

关键词： Generalized Voronoi diagram Pure pursuit Nonholonomic mobile robot Autonomous navigation

作者: Minglei Shao Jiyeong Lee Changsoo Han

作者单位: Department of Mechanical Engineering Hanyang University Seoul, South Korea

会议类型: 国际会议

会议名称: 2010 International Conference on Circuit and Signal Processing(2010年电路与信号处理国际会议 ICCSP 2010)

会议地点: 上海

会议语种:英文

页码: 186-189

在线出版日期: 2010-12-25（万方平台首次上网日期，不代表论文的发表时间）