Path Tracking for Unmanned Ground Vehicle Navigation: Implementation and Adaptation of the Pure Pursuit Algorithm

Abstract

Following user defined paths and seeking goal locations is fundamental to Autonomous Unmanned Ground Vehicle (UGV) navigation. This paper summarizes the current state of the art in robotic path tracking for Ackerman steered vehicles and presents results of implementation and adaptation of the Pure Pursuit algorithm at Defence R&D Canada Suffield.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2005
Accession Number
ADA599492

Entities

People

  • D. Mackay
  • J. Collier
  • J. Giesbrecht
  • S. Verret

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Vehicles
  • Classification
  • Collision Avoidance
  • Control Systems
  • Curvature
  • Engineering
  • Geometry
  • Ground Vehicles
  • Motion Planning
  • Navigation
  • Security
  • Unmanned
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control