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Volume 29Issue 4
Dec. 2020
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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2020> 29(4): 466-473
Jing Li, Qingbin Wu, Junzheng Wang, Hui Qin, Jiehao Li. Autonomous Tracking Control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2020, 29(4): 466-473. doi: 10.15918/j.jbit1004-0579.19110
Citation: Jing Li, Qingbin Wu, Junzheng Wang, Hui Qin, Jiehao Li. Autonomous Tracking Control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2020, 29(4): 466-473.doi:10.15918/j.jbit1004-0579.19110
shu

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

doi:10.15918/j.jbit1004-0579.19110
  • 1.

    Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    Key Laboratory of Servo Motion System Drive and Control, Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, Beijing 100081, China

Funds:the National Natural Science Foundation of China(6110 3157)
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  • Corresponding author:associate professor, Ph. D. E-mail:bitljing@bit.edu.cn
  • Received Date:2019-12-02
  • Publish Date:2020-12-30
    Abstract
  • 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 pursuit 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 control 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 demonstrate that the improved pure pursuit control method has the advantages of small steady-state error, fast response and strong robustness, which can effectively improve the accuracy of path tracking.
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