Multi point pure pursuit
Department of Electrical and Computer Engineering, Department of Mechanical Engineering-Engineering Mechanics
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.
Proceedings of SPIE - The International Society for Optical Engineering
Multi point pure pursuit.
Proceedings of SPIE - The International Society for Optical Engineering,
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