دراسة خوارزميات تتبع مسار عربة و تحليله و تصحيحه لتجنب العوائق

الملخص EN

In this research a review of methods needed to make a vehicle follow a predefined path has been done where the vehicle can follow the path and return to it if any deviation happened.

The following Algorithms have been applied to follow the path: 1- Follow The Carrot [1] Algorithm 2- Pure Pursuit [2] Algorithm 3- Follow The Past [3] Algorithm The implementation of these algorithms has been done by using statistical analysis software (MATLAB) to make a robotic vehicle movement simulator that uses algorithms to follow a predefined path (recorded path).

We have found as a result that the (Follow the Carrot) algorithm is simple for understanding and applying, on the other hand it causes larger errors in position and larger deviation from the path.

Also in the (Follow the Carrot) algorithm, the vehicle tends to take short cuts and moves directly towards the goal point instead of moving on path curves.

Pure Pursuit algorithm also suffers from the same problems, but not in the same critical way, where we can get better proportion results .Whereas the (Follow the Past) algorithm achieves a perfect path tracking for applying certain conditions and study parameters.