Path Tracking for Unmanned Ground Vehicle Navigation: Implementation and Adaptation of the Pure Pursuit Algorithm

摘要

Abstract : Following user defined paths and seeking goal locations is fundamental to Autonomous Unmanned Ground Vehicle (UGV) navigation. This paper summarizes the current state of the art in robotic path tracking for Ackerman steered vehicles and presents results of implementation and adaptation of the Pure Pursuit algorithm at Defence R&D Canada Suffield.