Integration of a Rotary Sonar in the Mobile Robot RAM-2 1

Pozo-Ruz, Ana; Martínez, Jorge L.; García-Cerezo, Alfonso J.

doi:10.1016/s1474-6670(17)43254-x

Cited by 4 publications

(3 citation statements)

References 7 publications

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“…In summary, which so much attention that has been given to pure-pursuit tracking of explicit path by so many researchers, very little interest has been given to tracking of implicit path since the method was introduced into mobile robots [26], except for the work done on a person following with a rotary sonar [27] and a 2D laser scanner where Morales et al [1] investigated pure-pursuit path tracking for reactive tracking of an implicit path with a non-holonomic vehicle, there method was developed to follow obstacles like; walls, persons and corridors based on onboard 2D laser scanner for each. However, since their basic idea of reactive tracking was essentially that, the path to be followed would be read from the camera, which reduces complexity of data processing greatly.…”

Section: Discussionmentioning

confidence: 99%

A Review of some Pure-Pursuit based Path Tracking Techniques for Control of Autonomous Vehicle

Samuel¹,

Hussein²,

Mohamad³

2016

IJCA

124

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This paper gives a brief review of few common path tracking techniques used in the design of autonomous vehicles. Technique such as pure-pursuit, vector pursuit as well as CFpursuit which are all based on the pure-pursuit techniques were discussed and a detailed comparism was made between these geometric techniques. Also this review work discusses areas were little research has been done. Areas such as tracking of an implicit part of a mobile robot and proposes an area where feature research can be done such as tracking of both implicit and explicit path for a non-holonomic mobile robot.

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Section: Discussionmentioning

confidence: 99%

A Review of some Pure-Pursuit based Path Tracking Techniques for Control of Autonomous Vehicle

Samuel¹,

Hussein²,

Mohamad³

2016

IJCA

124

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“…implicit paths has received little attention since the method was first proposed for mobile robots [7], with the exception of our earlier efforts on person following with a rotary sonar [33] and a 2D laser scanner [8]. Moreover, no previous work has explored the possibilities of the method to combine different types of implicit and explicit paths.…”

Section: Literature Review Of Pure-pursuitmentioning

confidence: 99%

Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner

Morales

Martínez

et al. 2009

EURASIP J. Adv. Signal Process.

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Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a robotic mission can be composed of a combination of different types of path segments. These techniques have been successfully tested in the tracked mobile robot Auriga-α in an indoor environment.

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“…The extra drive of the laser scanner is to be dynamically controlled according to the evolution of the tracked object. This same principle was applied to a mobile robot in order to follow a person with a motorized 1D sonar (Pozo-Ruz et al, 1997). However, there is a significant difference that complicates tracking, which is the fast maneuverability of mini-helicopters.…”

Section: Helicopter Search and Trackingmentioning

confidence: 99%