Path Pursuit using Coverage DWA of Two Wheel Drive Robot

This study presents a path pursuit algorithm designed for map coverage. While traditional path planning focuses on generating an optimal path between a robot"s current location and a target point, coverage path planning aims to efficiently cover a designated area without any gaps. Therefore, a path pursuit algorithm is required to minimize path deviation. The coverage path was first calculated based on the map floor plan. Using a dynamic window, we established a new objective function that allowed the robot to minimize path deviation while pursuing the designated coverage path. This was achieved by considering the errors between the paths and the robot"s current location, rather than just focusing on the robot"s current position and the target point. Experimental results showed that our algorithm significantly reduced path deviation by 62% compared to pure pursuit algorithms.