Path Tracking for Unmanned Ground Vehicle Navigation: Implementation and Adaptation of the Pure Pursuit Algorithm
Jared L. Giesbrecht, David Mackay, Jack A. Collier, S Verret · 2005
Abstract : Following user defined paths and seeking goal locations is fundamental to Autonomous Unmanned Ground Vehicle (UGV) navigation. This paper summarizes the current state of the art in robotic path tracking for Ackerman steered vehicles and presents results of implementation and adaptation of the Pure Pursuit algorithm at Defence R&D Canada Suffield.