Motion tracking for an unmanned ground vehicle (UGV) under delayed and slow feedback

Unmanned ground vehicles (UGVs) have a lot of potential applications in a variety of areas by avoiding humans in the operations. Motion tracking is one of the key problems for UGVs. One of the most popular methods for motion tracking of UGV is the Pure Pursuit Algorithm (PPA). Most studies using this method, however, do not consider the delays and slow sampling rate of the feedback signals such as the GPS and compass signals, which results in some unnecessarily large tracking errors. This paper proposes a new motion tracking method based on the PPA for online handling the delayed and slow feedback. Besides, the performance of the designed method is evaluated under different parameters of PPA. The experimental results on our developed UGV illustrate the effectiveness of the method and the performance analysis is discussed.