Research on path tracking algorithm of differential drive robots based on lookahead distance adaptive

This article introduces an enhanced pure pursuit algorithm with adaptive lookahead distance to address the issues of tracking loss and error accumulation when tracking the curve trajectory. Firstly, the basic principles and implementation methods of the pure pursuit algorithm are introduced, and the limitations of the pure pursuit algorithm are analyzed. Then, improvement strategies are proposed to address these limitations by incorporating the curvature of the target path into the calculation of the lookahead distance, dynamically adjusting the lookahead distance in real-time, and dynamically adjusting the robot speed to enhance the accuracy and stability of path tracking. Finally, the effectiveness and performance advantages of the proposed algorithm are validated in MATLAB platform. The experimental results illustrate that, in comparison to the traditional pure pursuit algorithm, the algorithm presented in this paper exhibits a significant enhancement in tracking performance, especially when tracing curved trajectories.