Effectiveness of bicycle path planning method and pure pursuit method on omni-directional mobile robot

Research on the control of movement omnidirectional on mobile robots have been much done. On the problems there are in the Asia-Pacific Robot Contest (ABU Robocon) 2014, about the trajectory of the line on a robot that cannot be used as a reference point for the trajectory of the movement from the robot. If using the line as a reference and no field the entire area cannot be mapped, so that only part that there is a line of course that can be passed by a robot. Some method of tracking the path that is used will form new path when the robot out of the set so that the movement of the robot not appropriate. Many researchers has done research on a method of tracking the path on omnidirectional use to maintain control of robots to maintain in order to stay on track. Pure pursuit and bicycle path planning are other methods used path tracking. This paper the researchers did research on comparing the two method, there are pure pursuit path tracking and bicylce path planning. From both of these methods, methods bicycle path planning RMSE values to track the movement of the robot is smaller than the pure pursuit method. With the smallest RMSE value of the bicycle path planning methods at 2.59 cm and pure pursuit method 3.10 cm, while the largest of the methods bicycle path planning methods 7.9 cm and 7.57 cm pure pursuit.