Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit
This research addresses autonomous navigation for differential drive robots by integrating probabilistic roadmap (PRM) and pure pursuit algorithms. The proposed method innovatively tackles path planning challenges in complex environments by developing a novel framework that combines forward kinemati...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10857269/ |
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| author | Maram Ali Saptarshi Das Stuart Townley |
| author_facet | Maram Ali Saptarshi Das Stuart Townley |
| author_sort | Maram Ali |
| collection | DOAJ |
| description | This research addresses autonomous navigation for differential drive robots by integrating probabilistic roadmap (PRM) and pure pursuit algorithms. The proposed method innovatively tackles path planning challenges in complex environments by developing a novel framework that combines forward kinematics, binary occupancy mapping, and adaptive path generation. The approach demonstrates superior navigation performance through efficient path planning in constrained spaces, validated by a case study in Riyadh, Saudi Arabia. By using PRM’s probabilistic path generation and pure pursuit’s real-time control, the method outperforms traditional navigation techniques in generating feasible trajectories through intricate environments. Key contributions include a comprehensive framework for robot navigation that offers enhanced adaptability and robust path planning. While being limited to static environments, the research provides a foundational approach for developing more resilient autonomous robotic systems, setting the stage for future navigation algorithm advancements. |
| format | Article |
| id | doaj-art-e9b36a67a7294d1c8603037f53e8f347 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-e9b36a67a7294d1c8603037f53e8f3472025-02-06T00:00:41ZengIEEEIEEE Access2169-35362025-01-0113221182213210.1109/ACCESS.2025.353638310857269Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure PursuitMaram Ali0Saptarshi Das1https://orcid.org/0000-0002-8394-5303Stuart Townley2Centre for Environmental Mathematics, Faculty of Environment, Science and Economy, University of Exeter, Penryn Campus, Penryn, U.K.Centre for Environmental Mathematics, Faculty of Environment, Science and Economy, University of Exeter, Penryn Campus, Penryn, U.K.Centre for Environmental Mathematics, Faculty of Environment, Science and Economy, University of Exeter, Penryn Campus, Penryn, U.K.This research addresses autonomous navigation for differential drive robots by integrating probabilistic roadmap (PRM) and pure pursuit algorithms. The proposed method innovatively tackles path planning challenges in complex environments by developing a novel framework that combines forward kinematics, binary occupancy mapping, and adaptive path generation. The approach demonstrates superior navigation performance through efficient path planning in constrained spaces, validated by a case study in Riyadh, Saudi Arabia. By using PRM’s probabilistic path generation and pure pursuit’s real-time control, the method outperforms traditional navigation techniques in generating feasible trajectories through intricate environments. Key contributions include a comprehensive framework for robot navigation that offers enhanced adaptability and robust path planning. While being limited to static environments, the research provides a foundational approach for developing more resilient autonomous robotic systems, setting the stage for future navigation algorithm advancements.https://ieeexplore.ieee.org/document/10857269/Differential drive navigationprobabilistic roadmappure pursuitpath planningunexplored terrains |
| spellingShingle | Maram Ali Saptarshi Das Stuart Townley Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit IEEE Access Differential drive navigation probabilistic roadmap pure pursuit path planning unexplored terrains |
| title | Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit |
| title_full | Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit |
| title_fullStr | Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit |
| title_full_unstemmed | Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit |
| title_short | Robot Differential Drive Navigation Through Probabilistic Roadmap and Pure Pursuit |
| title_sort | robot differential drive navigation through probabilistic roadmap and pure pursuit |
| topic | Differential drive navigation probabilistic roadmap pure pursuit path planning unexplored terrains |
| url | https://ieeexplore.ieee.org/document/10857269/ |
| work_keys_str_mv | AT maramali robotdifferentialdrivenavigationthroughprobabilisticroadmapandpurepursuit AT saptarshidas robotdifferentialdrivenavigationthroughprobabilisticroadmapandpurepursuit AT stuarttownley robotdifferentialdrivenavigationthroughprobabilisticroadmapandpurepursuit |