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Journals / Balkan Journal of Electrical and Computer Engineering / 2021 / Cilt: 9 Sayı: 4

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

Güllü Boztaş(FIRAT ÜNİVERSİTESİ)0000-0002-1720-1285
Ömür Aydoğmuş(FIRAT UNIVERSITESI)0000-0001-8142-1146
Pages
337–341
Publication Date
2021-10-30
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

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.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:In this study, a differential wheeled mobile robot was controlled in real time using pure pursuit algorithm (PPA).
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Key Findings & Data: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.
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Conclusion & Impact: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.
🔬Design:Araştırma Makalesi
📍Scope:Comprehensive Sample
⚙️Variables:Mobile Robot · Pure Pursuit Algorithm · Robot Operating System.

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.

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Cite This Article

Boztaş, G., Aydoğmuş, Ö. (2021). Implementation of Pure Pursuit Algorithm for Nonholonomic Mobile Robot using Robot Operating System. Balkan Journal of Electrical and Computer Engineering, Cilt: 9 Sayı: 4, 337–341. https://doi.org/10.17694/bajece.983350

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References (2)

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