Multi point pure pursuit
© 2020 SPIE. 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,
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/2733