The Effect of Path Linearity on Mobile Robot Path Planning and Tracking Control

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Erciyes Üniversitesi Fen Bilimleri Enstitüsü Dergisi
Cilt: 41 Sayı: 2
The Effect of Path Linearity on Mobile Robot Path Planning and Tracking Control

The Effect of Path Linearity on Mobile Robot Path Planning and Tracking Control

Authors : Sertaç Savaş, Mustafa Yusuf Yıldırım, Rüştü Akay

Pages : 590-603

View : 89 | Download : 75

Publication Date : 2025-08-30

Article Type : Research Paper

Abstract :In recent years, mobile robots have begun to be used in sectors such as social life, education and health as well as in the industrial sector. For this reason, mobile robots and their problems have become the focus of attention by researchers. Path planning and tracking control are among the basic problems of mobile robots. However, the literature generally focuses on algorithmic improvements, ignoring the disadvantages that the path type can cause such as long computation times and high costs. This study focuses on the problem simplifying instead of the algorithmic improvements, and examines the effect of path linearity on a robot\\\'s tracking the planned path. Therefore, a pure pursuit controller is designed for curve and line-type optimal paths planned by artificial bee colony algorithm and path tracking performances are compared.
Keywords : mobil robot, yol planlama, yapay arı koloni, yol takip kontrolü, doğrusallık

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