Analysis of a Geometric Path Tracking Method for a Nonholonomic Mobile Robots Based on Vector Pursuit

Abstract

The path tracking is important method in the autonomous navigation. The path tracking controller should berobust with the large tracking error, and the geometric path tracking methods already have an ability to overcome that problem. In this paper, we deal with the vector pursuit which is the one of the geometric path tracking methods. We proposed the new path tracking control system which can determines the look-ahead distance with the given constraints, the reference velocity and the limit on the angular velocity. The simulation and the experiment result show that the mobile robot satisfies the constraints while it follows the path.