Enhanced Pure Pursuit Path Tracking Algorithm for Mobile Robots Optimized by NSGA-II with High-Precision GNSS
Xiongwen Jiang1, Taiga Kuroiwa1, Yu Cao2
1Division of Electronics and Informatics, Gunma University, Kiryu 376-0052, Japan.
Sensors (Basel, Switzerland)
|February 13, 2025
Summary
This study introduces an improved pure pursuit algorithm for mobile robot navigation, enhancing path tracking accuracy. The optimized algorithm significantly reduces pose errors, improving overall navigation performance in real-world conditions.
Area of Science:
- Robotics
- Automation and Intelligent Systems
- Navigation and Control
Background:
- Accurate navigation is crucial for mobile robots in automated systems.
- Existing path tracking algorithms may not fully account for dynamic robot characteristics.
- High-precision Global Navigation Satellite System (GNSS) is vital for precise robot positioning.
Purpose of the Study:
- To propose an enhanced pure pursuit path tracking algorithm for mobile robots.
- To optimize the algorithm using the NSGA-II (Nondominated Sorting Genetic Algorithm II) for improved performance.
- To enhance path tracking accuracy by considering robot dynamics and real-world operating conditions.
Main Methods:
- Development of an enhanced pure pursuit algorithm.
- Optimization of the algorithm using NSGA-II.
- Integration with high-precision GNSS for accurate localization.
- Experimental validation under varying operational parameters.
Main Results:
- The enhanced algorithm significantly reduces Average Absolute Pose Error (APE).
- A reduction of 14.63% in APE was observed with a look-ahead distance of 0.5 and velocity of 3.
- A further reduction of 55.94% in APE was achieved at a velocity of 4.
- Demonstrated substantial improvement in path deviation reduction and navigation performance.
Conclusions:
- The proposed enhanced pure pursuit algorithm effectively improves mobile robot path tracking accuracy.
- The NSGA-II optimization and consideration of dynamic characteristics lead to superior navigation performance.
- This algorithm offers a robust solution for precise mobile robot navigation in complex environments.
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