Lecture 13 - Pure Pursuit

Overview:

This lecture goes over the control stack of an autonomous vehicle and how it can do path planning via the pure pursuit algorithm. The vehicle is given a sequence of waypoints to follow, how does it plan a path in order to follow these waypoints? Similar to the particle filter algorith, pure pursuit also requires parameter tuning. We will go over this during the lecture.

Topics Covered:

• Pure pursuit

Associated Assignment:

• Lab 6: Pure Pursuit

Slides:

Links to additional resources:

• Implementation of the Pure Pursuit Path Tracking Algorithm

• Automatic Steering Methods for Autonomous Automobile Path Tracking