Multi point pure pursuit

Authors

Derek J. Chopp, Michigan Technological UniversityFollow
Nate Spike, Michigan Technological UniversityFollow
Jeremy Bos, Michigan Technological UniversityFollow
Darrell Robinette, Michigan Technological UniversityFollow

Document Type

Conference Proceeding

Publication Date

1-1-2020

Department

Department of Electrical and Computer Engineering; Department of Mechanical Engineering-Engineering Mechanics

Abstract

We propose a modification to the popular pure pursuit algorithm for path following of car like platforms in which multiple look-ahead points along the target path are aggregated to form a spatially filtered steering command. Our approach enables complex following behaviors while avoiding such as oscillatory behavior observed in approaches with a single look-ahead point.

Publisher's Statement

© 2020 SPIE. Publisher’s version of record: https://doi.org/10.1117/12.2558943

Publication Title

Proceedings of SPIE - The International Society for Optical Engineering

Recommended Citation

Chopp, D., Spike, N., Bos, J., & Robinette, D. (2020). Multi point pure pursuit. Proceedings of SPIE - The International Society for Optical Engineering, 11415. http://doi.org/10.1117/12.2558943
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/2733