Implementation of the Pure Pursuit Path Tracking Algorithm
Tech. Report, CMU-RI-TR-92-01, Robotics Institute, Carnegie Mellon University, 1992
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.
BibTeX
@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},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.