PERTANIKA JOURNAL OF SCIENCE AND TECHNOLOGY

 

e-ISSN 2231-8526
ISSN 0128-7680

Home / Regular Issue / JST Vol. 32 (1) Jan. 2024 / JST-4157-2022

 

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

Izzati Saleh, Azwati Azmin, Azan Yunus and Wan Rahiman

Pertanika Journal of Science & Technology, Volume 32, Issue 1, January 2024

DOI: https://doi.org/10.47836/pjst.32.1.06

Keywords: Mobile robot navigation, obstacle detection, path following, VFH+ algorithm

Published on: 15 January 2024

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 λ weight so the robot returns to its waypoints after avoiding an obstacle. The investigation reveals that λ 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 0.2m, and the optimal λ value is 0.8.

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