Implementation of the Pure Pursuit Path Tracking Algorithm

January 1992

Implementation of the Pure Pursuit Path Tracking Algorithm

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Authors:

R. Craig Coulter
Technical Report
CMU-RI-TR-92-01

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.

Notes:

@techreport{Coulter-1992-13338,
author = {R. Craig Coulter},
title = {Implementation of the Pure Pursuit Path Tracking Algorithm},
year = {1992},
month = {January},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-92-01},
}
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