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dc.contributor.authorMorales-Rodríguez, Jesús 
dc.contributor.authorMartínez-Rodríguez, Jorge Luis 
dc.contributor.authorMartínez-Sánchez, María Alcázar 
dc.contributor.authorMandow Andaluz, Anthony
dc.date.accessioned2024-02-07T11:37:34Z
dc.date.available2024-02-07T11:37:34Z
dc.date.issued2009
dc.identifier.citationMorales, J., Martínez, J.L., Martínez, M.A. et al. Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner. EURASIP J. Adv. Signal Process. 2009, 935237 (2009). https://doi.org/10.1155/2009/935237es_ES
dc.identifier.urihttps://hdl.handle.net/10630/29985
dc.description.abstractDue to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a robotic mission can be composed of a combination of different types of path segments. These techniques have been successfully tested in the tracked mobile robot Auriga-α in an indoor environment.es_ES
dc.language.isoenges_ES
dc.publisherSpringeres_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.subjectVehículos autodirigidoses_ES
dc.subject.otherReactive trackinges_ES
dc.subject.otherPure-pursuites_ES
dc.subject.otherRobotic missiones_ES
dc.subject.other2D laser scanneres_ES
dc.subject.otherMobile robotses_ES
dc.titlePure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanneres_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.identifier.doi10.1155/2009/935237
dc.type.hasVersioninfo:eu-repo/semantics/publishedVersiones_ES


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