Implementation of the Pure Pursuit Path Tracking Algorithm
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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The main purpose of this technical report is to describe in detail the implementation of the pure pursuit path tracking algorithm. Given the general success of the algorithm over the past few years, it seems likely that it will be used again in land-based navigation problems. This report also includes a geometric derivation of the method, and presents some insights into the performance of the algorithm as a function of its parameters.
- Navigation and Guidance