Multi point pure pursuit

Derek J. Chopp; Nate Spike; Jeremy Bos; Darrell Robinette

doi:10.1117/12.2558943

19 May 2020 Multi point pure pursuit

Derek J. Chopp, Nate Spike, Jeremy Bos, Darrell Robinette

Proceedings Volume 11415, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2020; 1141505 (2020) https://doi.org/10.1117/12.2558943
Event: SPIE Defense + Commercial Sensing, 2020, Online Only

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.

Conference Presentation

Citation Download Citation

Derek J. Chopp, Nate Spike, Jeremy Bos, and Darrell Robinette "Multi point pure pursuit", Proc. SPIE 11415, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2020, 1141505 (19 May 2020); https://doi.org/10.1117/12.2558943

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