Implementation of Pure Pursuit Algorithm for Nonholonomic Mobile Robot using Robot Operating System
نویسندگان
چکیده
In this study, a differential wheeled mobile robot was controlled in real time using pure pursuit algorithm (PPA). The obtained simulation environment by Gazebo simulator which offer the ability to accurately and efficiently simulate various robots complex indoor/outdoor environments. This operated with operating system (ROS) that allows use of Python, C++, MATLAB or programming languages. paper, MATLAB/Simulink used control communication interface between ROS. Thus, it is possible study more comprehensively multiple features MATLAB. traveled around 4m x area random waypoints. position measured based on odometer sensor order determine robot’s location. performance analyzed information such as velocity, motors’ speed, robot, etc.
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ژورنال
عنوان ژورنال: Balkan journal of electrical & computer engineering
سال: 2021
ISSN: ['2147-284X']
DOI: https://doi.org/10.17694/bajece.983350