Multi point pure pursuit

Document Type

Conference Proceeding

Publication Date



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.

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© 2020 SPIE. Publisher’s version of record:

Publication Title

Proceedings of SPIE - The International Society for Optical Engineering