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A Review of some Pure-Pursuit based Path Tracking Techniques for Control of Autonomous Vehicle

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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Authors:
Moveh Samuel, Mohamed Hussein, Maziah Binti Mohamad
10.5120/ijca2016908314

Moveh Samuel, Mohamed Hussein and Maziah Binti Mohamad. Article: A Review of some Pure-Pursuit based Path Tracking Techniques for Control of Autonomous Vehicle. International Journal of Computer Applications 135(1):35-38, February 2016. Published by Foundation of Computer Science (FCS), NY, USA. BibTeX

@article{key:article,
	author = {Moveh Samuel and Mohamed Hussein and Maziah Binti Mohamad},
	title = {Article: A Review of some Pure-Pursuit based Path Tracking Techniques for Control of Autonomous Vehicle},
	journal = {International Journal of Computer Applications},
	year = {2016},
	volume = {135},
	number = {1},
	pages = {35-38},
	month = {February},
	note = {Published by Foundation of Computer Science (FCS), NY, USA}
}

Abstract

This paper gives a brief review of few common path tracking techniques used in the design of autonomous vehicles. Technique such as pure-pursuit, vector pursuit as well as CF-pursuit which are all based on the pure-pursuit techniques were discussed and a detailed comparism was made between these geometric techniques. Also this review work discusses areas were little research has been done. Areas such as tracking of an implicit part of a mobile robot and proposes an area where feature research can be done such as tracking of both implicit and explicit path for a non-holonomic mobile robot.

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Keywords

Autonomous vehicle, path-tracking, pure-pursuit, sensors, controller, implicit, explicit.