Event
DWPP path-tracking method integrated into Nav2 and accepted by journal
1 reports · 1 sources
Fumiya Ohnishi and Masaki Takahashi proposed the dynamic window pure pursuit (DWPP) path-tracking method, which moves command velocity computation into the v-ω velocity space and selects, within the dynamic window, the point closest to the ω=κv line, thereby explicitly incorporating velocity and acceleration constraints. The authors state that experiments show DWPP can avoid commands that violate constraints, and that its path-tracking accuracy is superior to that of the conventional pure pursuit method. The method has been integrated into the official Nav2 repository and made publicly available, and the paper has been accepted by Robotics and Autonomous Systems.
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- DWPP: Dynamic Window Pure Pursuit Considering Velocity and Acceleration Constraints
The authors propose dynamic window pure pursuit (DWPP), which moves command velocity computation into the v-ω velocity space and selects, within the dynamic window, the point closest to the line ω=κv, thereby explicitly incorporating velocity and acceleration constraints. Experiments show that DWPP avoids constraint-violating commands and achieves better path-tracking accuracy than conventional pure pursuit methods. The method has been integrated into the official Nav2 repository and made publicly available, and the paper has been accepted by Robotics and Autonomous Systems.
arXiv cs.RO ·