Follow the Carrot과 Pure Pursuit 경로추종 방법의 성능분석을 위한 시뮬레이션 연구

Abstract

This paper considers about the path tracking approach of 4-wheel skid steering mobile robot. The Follow the carrot and the Pure pursuit belong to the geometric path tracking method. Two methods are classified by selection methods of a look point and control inputs. The follow the carrot is a path tracking method to reduce the distance and heading errors between the look point and the current position of mobile robot. In the pure pursuit method, the mobile robot follows the path using the radius of a circle passing through both the look point and the current position. The look distance parameter is used simulation of two path tracking method for an analysis of advantages and disadvantages. From the result of simulation, the pure pursuit has better tracking ability than the follow the carrot because of control inputs without rapid change.s of a look point and control inputs. The follow the carrot is a path tracking method to reduce the distance and heading errors between the look point and the current position of mobile robot. In the pure pursuit method, the mobile robot follows the path using the radius of a circle passing through both the look point and the current position. The look distance parameter is used simulation of two path tracking method for an analysis of advantages and disadvantages. From the result of simulation, the pure pursuit has better tracking ability than the follow the carrot because of control inputs without rapid change.