Implementation of the Pure Pursuit Path Tracking Algorithm

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1992
Accession Number
ADA255524

Entities

People

  • R. C. Coulter

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Classification
  • Communications Techniques
  • Control Theory
  • Coordinate Systems
  • Curvature
  • Data Management
  • Equations
  • Geometric Forms
  • Geometry
  • Lines (Geometry)
  • Motion Planning
  • Navigation
  • Robotics
  • Steering
  • Triangles

Readers

  • Computational Modeling and Simulation
  • Game Theory.
  • Graph Algorithms and Convex Optimization.