Implementation of Pure Pursuit Algorithm for Nonholonomic Mobile Robot using Robot Operating System

Güllü Boztaş,Ömür Aydoğmuş

doi:10.17694/bajece.983350

Güllü Boztaş, Ömür Aydoğmuş

Open Access

https://doi.org/10.17694/bajece.983350

Copy DOI

Abstract

In this study, a differential wheeled mobile robot was controlled in real time using pure pursuit algorithm (PPA). The robot was obtained in a simulation environment by using Gazebo simulator which offer the ability to accurately and efficiently simulate various robots in complex indoor/outdoor environments. This simulator was operated with robot operating system (ROS) that allows the use of Python, C++, MATLAB or various programming languages. In this paper, MATLAB/Simulink environment was used to control the robot with communication interface between MATLAB and ROS. Thus, it is possible to study more comprehensively by using multiple the features of MATLAB. The robot was traveled around a 4m x 4m area with random waypoints. The position of the robot was measured based on odometer sensor in order to determine the robot’s location. The performance of the control algorithm was analyzed using various information of the robot such as robot’s velocity, motors’ speed, the position of the robot, etc.

Highlights

THE SCIENTIFIC researches on mobile robots are increasing rapidly day by day
This study presented an implementation of pure pursuit algorithm (PPA) control for a differential drive wheeled mobile robots (DDWMR)
A simplified robot model was used in order to show the effect of the look-ahead distance value for PPA

Summary

INTRODUCTION

THE SCIENTIFIC researches on mobile robots are increasing rapidly day by day. Legged robots, wheeled robots, underwater robots, and aerial robots constitute various sub-branches of mobile robots [1]. Holonomic wheeled robots can travel along x-axis and y-axis with linear movement. They can rotate around the z-axis [11]. DDWMRs with 3-wheel are widely used in many industrial applications. These mobile robots have more control with high maneuverability [17]. A 3wheeled DDWMR was used in the current study This robot is called as TurtleBot Burger which is developed in 2017. The PPA was developed in MATLAB environment which connected to the ROS nodes. The PPA was implemented on the other PC with the MATLAB program Both control and monitoring processes were achieved by connecting to ROS nodes via IP address.

DIFFERENTIAL DRIVE WHEELED MOBILE ROBOT

PURE PURSUIT ALGORITHM

IMPLEMENTATION OF PPA FOR DDWMR

CONCLUSION