The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Fusion Algorithm of Pure Pursuit and Velocity Planning to Improve the Path Following Performance of Differential Driven Robots in Unstructured Environments

차동 구동형 로봇의 비정형 환경 주행 경로 추종 성능 향상을 위한 Pure pursuit와 속도 계획의 융합 알고리즘

  • Bongsang Kim (Autonomous Vehicle & Intelligent Robotics Program, Hongik University) ;
  • Kyuho Lee (Autonomous Vehicle & Intelligent Robotics Program, Hongik University) ;
  • Seungbeom Baek (Autonomous Vehicle & Intelligent Robotics Program, Hongik University) ;
  • Seonghee Lee (Hanwha Systems Co., Ltd.) ;
  • Heechang Moon (Mechanical and System Design Engineering, Hongik University)
  • Received : 2023.05.27
  • Accepted : 2023.07.26
  • Published : 2023.08.31
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Abstract

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

Keywords

Acknowledgement

This work was supported by Korea Research Institute for defense Technology planning and advancement (KRIT) grant funded by the Korea government (DAPA (Defense Acquisition Program Administration)) (No. KRIT-CT-21-009, Development of Realtime Automatic Mission Execution and Correction Technology based on Battlefield Information, 2022)

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