Analysis of Pure-pursuit Algorithm Parameters for Nonholonomic Mobile Robot Navigation in Unstructured and Confined Space

• Published in: PERTANIKA JOURNAL OF SCIENCE AND TECHNOLOGY
• Main Authors: Saleh, Izzati; Azmin, Azwati; Yunus, Azan; Rahiman, Wan
• Format: Article
• Language: English
• Published: UNIV PUTRA MALAYSIA PRESS 2024
• Subjects: Science & Technology - Other Topics
• Online Access: https://www-webofscience-com.uitm.idm.oclc.org/wos/woscc/full-record/WOS:001214547400006

This research analyses Pure-pursuit algorithm parameters for nonholonomic mobile robot navigation in unstructured and constrained space. The simulation-based experiment is limited to the mobile robot arrangement. The Look Ahead Distance parameter is adjusted so the mobile robot can navigate the predefined map closely following the waypoints. The optimal Look Ahead Distance value is combined with the VFH+ algorithm for obstacle avoidance. The method is enhanced by adding the ? weight so the robot returns to its waypoints after avoiding an obstacle. The investigation reveals that ? influences the mobile robot's capacity to return to its predetermined waypoints after avoiding an obstacle. Based on the simulation experiment, the optimal LAD value is 0.2 m, and the optimal ? value is 0.8.