Development of the Autonomous Navigation Algorithm based on the Geometric Method for Skid Steering Vehicles: Convergence of Skid Steering and Pure Pursuit Methods Using Compensation Coefficients

This article aims to propose the navigation algorithm for autonomous driving of the skid steering vehicles based on the geometric method. The navigation system consists of two main concepts: the Skid Steering and Pure Pursuit methods. This study combines two concepts into one formula. And adds the two-compensation coefficient at the combined formula and organizes the concepts through mathematical proofs. The proposed formula has the advantage of being similar to the control of the ordinary vehicle with an Ackerman steering hardware system in a simple way and it doesn't necessary the modeling process of the vehicle and various road environments. In the experiments section of this article, Simulations were conducted several times by varying the compensation coefficients to examine how to change the steering characteristics of the vehicle.