Enhanced Pure Pursuit Path Tracking Algorithm for Mobile Robots Optimized by NSGA-II with High-Precision GNSS Navigation

Abstract

With the rapid development of automation and intelligent technology, mobile robots have shown wide application potential in many fields, and accurate navigation systems are the key to robots completing tasks. This paper proposes an enhanced pure pursuit path tracking algorithm for mobile robots, which is optimized using NSGA-II, with high-precision GNSS navigation for accurate positioning. The improved algorithm considers the dynamic characteristics and real-world operating conditions of the robot, optimizing steering decisions to enhance path tracking accuracy. Experimental results demonstrate the effectiveness of the algorithm: with a look-ahead distance of 0.5 and a maximum linear velocity of 3, the average absolute pose error (APE) is reduced by 14.63%, while a velocity of 4 reduces the APE by 55.94%. The enhanced algorithm significantly reduces path deviation and improves navigation performance.