预览加载中，请您耐心等待几秒...

PurePursuit算法在移动机器人路径跟踪的位姿修正研究.docx

预览
1/3
2/3
3/3

在线预览结束，喜欢就下载吧，查找使用更方便

下载提示 文本预览

如果您无法下载资料，请参考说明：

1、部分资料下载需要金币，请确保您的账户上有足够的金币

2、已购买过的文档，再次下载不重复扣费

3、资料包下载后请先用软件解压，在使用对应软件打开

PurePursuit算法在移动机器人路径跟踪的位姿修正研究 Abstract PurePursuitalgorithmisawell-establishedtechniqueforpathtrackingofmobilerobots.Thisalgorithmiswidelyusedinvariousroboticsapplicationsasitprovidesasimplemechanismforefficientpathtracking.ThispaperpresentsastudyoftheuseofthePurePursuitalgorithminmobilerobotpathtrackingforposecorrection.Thepaperdescribesthealgorithm'smathematicalmodel,itsimplementationdetails,andasetofsimulationsthatdemonstratetheeffectivenessofthealgorithminrobotpathtrackingandposecorrection. Introduction Theproblemofpathtrackingisafundamentalchallengeinrobotics.Thegoalofpathtrackingistocontroltherobot'smotionsuchthatitfollowsapredefinedpathaccuratelyandsafely.Pathtrackingisacriticaltaskinmobilerobotapplications,suchasautonomousnavigation,mobilerobotcontrol,andenvironmentalmonitoring.ThePurePursuitalgorithmisawell-establishedtechniqueforpathtrackingofmobilerobots.Thisalgorithmhasbeenextensivelystudiedinroboticsliteratureandwidelyusedinvariousrobotapplications.ThePurePursuitalgorithmprovidesasimpleandefficientmechanismforpathtracking,makingitthealgorithmofchoiceformanyroboticsapplications. PurePursuitAlgorithm ThePurePursuitalgorithmisacontrolstrategybasedontheconceptofproportionalnavigation.Thealgorithmcomputestherobot'ssteeringangletofollowapredefinedpath.Thepathisrepresentedasasequenceofwaypointsintheglobalcoordinatesystem.Thealgorithm'sobjectiveistoadjustthesteeringangletoguidetherobottowardsthenextwaypoint,suchthattherobot'spositionerrorisminimized.Thesteeringangleiscalculatedbasedonthedistancebetweentherobotandthenextwaypointandtherobot'sforwardvelocity. Thealgorithm'smathematicalmodelisbasedonthefollowingconcepts: 1.Lookaheaddistance-Thelookaheaddistanceisthedistancebetweentherobot'scurrentlocationandthenextwaypointalongthepath.Thelookaheaddistanceisusedtodeterminetherobot'ssteeringangle. 2.Curvature-Thecurvatureofthepathisthereciprocaloftheradiusofcurvature.Thecurvatureisusedtocalculatethesteeringangle. 3.Arclength-Thearclengthisthedistancetraveledalongthe