Path Planning of Unmanned System using Carrot-chasing Algorithm
This work addresses the problem of path following for unmanned systems, particularly when the path is defined by discrete data points, which is a common challenge for system developers.
This paper investigates the Carrot-chasing algorithm for path following in unmanned systems, focusing on its simplicity and use of a proportional controller to guide movement along predetermined paths defined by data points.
When an unmanned system is launched for a mission-critical task, it is required to follow a predetermined path. It means the unmanned system requires a path following algorithm for the completion of the mission. Since the predetermined path is typically given by a set of data-points, not only the curvature and derivative of the pre-determined path are absent, but also it requires a large size of on-board memory. In this work, we study a simple path following algorithm called Carrot-chasing algorithm that uses a simple controller in the form of a proportional controller to control the movement of an unmanned system.