Autonomous Tracking Control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

• 作者: Hui Qin Jiehao Li Jing Li Junzheng Wang Qingbin Wu
• 来源期刊: 北京理工大学学报（英文版）
• 学科: 工学
• 年，卷（期）: 2020,（4）
• 页码范围: 466-473
• 页数: 8页
• 分类号: TP242.6
• 语种: 英文
• DOI: 10.15918/j.jbit1004-0579.19110

摘要

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation, especially for future intelligent robots. In this paper, an improved pure pur-suit control method is proposed for the path tracking control problem of a four-wheel independent steering robot. Based on the analysis of the four-wheel independent steering model, the kinematic model and the steering geometry model of the robot are established. Then the path tracking con-trol is realized by considering the correlation between the look-ahead distance and the velocity, as well as the lateral error between the robot and the reference path. The experimental results demon-strate that the improved pure pursuit control method has the advantages of small steady-state er-ror, fast response and strong robustness, which can effectively improve the accuracy of path track-ing.