Pure Pursuit Method with Fuzzy Parameter Tuning for Flexible Bevel-tip Needles Plane Trajectory Tracking

This paper introduces a fuzzy pure pursuit (PP) control method for the flexible bevel-tip needle path following problem. Firstly, based on the bicycle model of the flexible needle, a duty-cycled needle rotation problem is defined and a pure pursuit tracking control algorithm is established. In addition, due to the complexity of the human body and curvature changes over a wide range, a fuzzy control tuning algorithm for the PP control scheme is proposed to ensure a rapid and accurate solution. Finally, the performance of the proposed control algorithm is verified by numerical simulation.