Implementation of pure pursuit algorithm based controller for a mobile platform

Abstract

Most of the conventional PID based controllers are prone to consume more computational time for controlling the mobile robot motions.This paper discusses a geometric based control strategy to control the motion of a mobile platform designed for carrying an upper body humanoid robot.Pure pursuit geometric algorithm is employed for controlling the mobile platform.The algorithm calculates the current position of the mobile platform as well as waypoints in the given path.The look ahead distance is finalized based on the average displacement error and average angle error values.The time taken for tuning waypoints is very less which in turn decreases the computational complexity of the algorithm.A simulation is also carried out to prove the advantages of proposed geometric algorithm for controlling the mobile platform motion.