The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The main purpose of this technical report is to describe in detail the implementation of the pure pursuit path tracking algorithm. Given the general success of the algorithm over the past few years, it seems likely that it will be used again in land-based navigation problems. This report also includes a geometric derivation of the method, and presents some insights into the performance of the algorithm as a function of its parameters.

Notes

Grant ID: DACA 76-89-C-0014

Number of pages: 9

Text Reference

R. Craig Coulter, "Implementation of the Pure Pursuit Path Tracking Algorithm," tech. report CMU-RI-TR-92-01, Robotics Institute, Carnegie Mellon University, January, 1992

BibTeX Reference

@techreport{Coulter_1992_278,
   author = "R. Craig Coulter",
   title = "Implementation of the Pure Pursuit Path Tracking Algorithm",
   institution = "Robotics Institute",
   month = "January",
   year = "1992",
   number= "CMU-RI-TR-92-01",
   address= "Pittsburgh, PA",
}

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