Evaluating Path Tracker Performance for Outdoor Mobile Robots

摘要: Accurate, high precision path tracking is an important capability for mobile robots in certain applications. In this paper, we discuss a formal method comparing and evaluating the performance of algorithms. This provides way to quantify both the stability performance tracker, particular interest when high-accuracy off-road tracking required. Previous work on tracker has focused the average and maximum position error over entire path, or dealt with simulated results. Overall, there is little analysis at lower level, which can provide insight into behavior the tracker, along overall weaknesses strengths. Our includes measuring the tracker’s response situations such as discontinuities path’s x, y coordinates and curvature. We also examine time settle onto the distribution vs. apply two commonly used path trackers operating outdoor robot. The first based pure-pursuit model, and second by Zhang et al (1997). By using were able to evaluate these trackers, discover their relative strengths and weaknesses. gained through led recommendations tracker development that will be presented.