Path Tracking Control of Wheeled Mobile Robot Based on Improved Pure Pursuit Algorithm

摘要

In the research on the path tracking control of wheeled mobile robot, path tracking accuracy of Pure Pursuit algorithm is poor. The tracking effect of Pure Pursuit algorithm is affected by the preview distance L <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</inf> . To solve this problem, an improved Pure Pursuit algorithm is proposed, and a rule of adaptive adjustment of preview distance is designed. Select a temporary preview point $P_{g}'$;. The preview distance L <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">d</inf> can be adjusted adaptively according to steering angle $\alpha$ and deflection angle $\theta$. The tracking path is adjusted by constructing two tangential circles Simulation results show that when tracking the desired path of a straight line, the average displacement error and average course angle error of the improved Pure Pursuit algorithm are 0. 1342m and 0. 0559rad respectively. When tracking the expected path of the curve, the average displacement error and average course angle error of the improved Pure Pursuit algorithm are 0. 1732m and 0. 0576rad respectively. Compared with similar algorithms, the improved Pure Pursuit algorithm has smaller tracking error and no obvious oscillation phenomenon.