Path Planning of Unmanned System using Carrot-chasing Algorithm

TL;DR

This paper introduces a simple carrot-chasing path following algorithm for unmanned systems, utilizing a proportional controller to effectively follow predetermined paths without requiring path derivatives or extensive onboard memory.

Contribution

It presents a novel, straightforward path following method suitable for resource-constrained unmanned systems, avoiding the need for path curvature or derivative data.

Findings

Effective path following demonstrated

Low computational and memory requirements

Suitable for mission-critical applications

Abstract

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.