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Path Following Algorithm with Small Error for Guide Robot

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Robot Intelligence Technology and Applications 7 (RiTA 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 642))

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Abstract

This paper proposes a path-following method, the Robot Side method, for controlling the guide robot. It assumes that we prepare waypoints in the environment, and the robot moves along the waypoints. The conventional path-following methods, such as the pure pursuit and the parallelogram, overshoot when the waypoint is not straight. The proposed method has three states depending on the robot’s position, angle, and path for reducing the trajectory deviation from the path. First, when the robot is far from the path, it controls the robot to approach the path rapidly, adjusts its direction to the path’s direction, and finally controls the robot to move along the path. We carried out the comparison experiments, and the results showed that the proposed method showed small trajectory errors and quick following behavior.

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Acknowledgement

Part of this work was supported by JSPS KAKENHI JP20K04389.

Author information

Authors and Affiliations

  1. Osaka Institute of Technology, Kita-ku, Osaka, 530-8568, Japan

    Hironobu Wakabayashi & Yutaka Hiroi

  2. Osaka Institute of Technology, Kitayama, Hirakata City, Osaka, 573-0196, Japan

    Kenzaburo Miyawaki

  3. Tohoku University, Aramaki aza Aoba, Aoba-ku, Sendai, Miyagi, 980-8579, Japan

    Akinori Ito

Authors
  1. Hironobu Wakabayashi
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  2. Yutaka Hiroi
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  3. Kenzaburo Miyawaki
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  4. Akinori Ito
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Corresponding author

Correspondence to Yutaka Hiroi .

Editor information

Editors and Affiliations

  1. School of Information and Communication Technology, Griffith University, Southport, Australia

    Jun Jo

  2. Department of Aerospace Engineering, KAIST, Daejeon, Korea (Republic of)

    Han-Lim Choi

  3. School of Information and Communication Technology, Griffith University, Southport, Australia

    Marde Helbig

  4. Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea (Republic of)

    Hyondong Oh

  5. Department of Mechanical Engineering, KAIST, Daejeon, Korea (Republic of)

    Jemin Hwangbo

  6. Department of Mechanical Engineering, KAIST, Daejeon, Korea (Republic of)

    Chang-Hun Lee

  7. School of Information and Communication Technology, Griffith University, Southport, Australia

    Bela Stantic

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Cite this paper

Wakabayashi, H., Hiroi, Y., Miyawaki, K., Ito, A. (2023). Path Following Algorithm with Small Error for Guide Robot. In: Jo, J., et al. Robot Intelligence Technology and Applications 7. RiTA 2022. Lecture Notes in Networks and Systems, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-031-26889-2_6

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