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

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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.

Grant ID: DACA 76-89-C-0014

Number of pages: 9

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

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