Follow the Past: a path-tracking algorithm for autonomous vehicles

Thomas Hellstrom, Ola Ringdahl
2006 International Journal of Vehicle Autonomous Systems  
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 follow a pre-defined path approximately. 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.
more » ... ome this problem. The algorithm is constructed within the behavioural paradigm common in intelligent robotics and is divided into three separate behaviours, each responsible for one aspect of the path-tracking task. The algorithm is implemented both on a simulator for autonomous forest machines and a physical small-scale robot. The results are compared with the Pure Pursuit and the Follow the Carrot algorithms and show a significant improvement in performance.
doi:10.1504/ijvas.2006.012208 fatcat:ww7kd6jnqbakrph62ggihotaki