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Follow The Past: a Path Tracking Algorithm for Autonomous Forest Vehicles
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2004 (English)Report (Other academic)
Abstract [en]

A number of algorithms for path tracking are described in the robotics literature. Traditional algorithms like Pure Pursuit and Follow the Carrot use position information to compute steering commands that make a vehicle approximately follow a predefined path. These algorithms are well known to cut corners since they do not explicitly take into account the actual curvature of the path. In this paper we present a novel algorithm that uses recorded steering commands to overcome this problem. The algorithm is constructed within the behavioural paradigm, and is divided into three separate behaviours, each one responsible for one aspect of the path tracking task. The algorithm is implemented in a simulator for forest machines and the results are compared with the Pure Pursuit and the Follow the Carrot algorithms. The results show a significant improvement in performance, both for ideal noise free position data, and also for position data with added simulated noise.

Place, publisher, year, edition, pages
2004. , 36 p.
Series
Report / UMINF, ISSN 0348-0542 ; 11
Identifiers
URN: urn:nbn:se:umu:diva-19907OAI: oai:DiVA.org:umu-19907DiVA: diva2:207716
Available from: 2009-12-22 Created: 2009-03-12 Last updated: 2009-12-22Bibliographically approved

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fulltext(859 kB)554 downloads
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Hellström, ThomasRingdahl, Ola
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf