Title

Multi point pure pursuit

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

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