Pure Pursuit Algorithm is a commonly used path-tracking algorithm that in autonomous driving applications determines the steering rate necessary for the vehicle to stay on track. The aim of the project is to set up a simulation of a moving UGV and experiment with different mathematical solutions to improve the existing technology, making it suitable for a wider spectrum of applications. The main result produced by this research is a Modified Follow the Carrot Algorithm capable of high accuracy even in sharp corners and in slip conditions. This has been achieved by calculating the trajectory that the carrot has to assume to allow the vehicle to stay on track. This solution could be suitable for farming applications and should be further tested on more realistic models.
Cocconi, E. (2020). Pure Pursuit Algorithm and Autonomous Driving. Afribary. Retrieved from https://track.afribary.com/works/pure-pursuit-algorithm-autonomous-driving
Cocconi, Edoardo "Pure Pursuit Algorithm and Autonomous Driving" Afribary. Afribary, 07 May. 2020, https://track.afribary.com/works/pure-pursuit-algorithm-autonomous-driving. Accessed 23 Nov. 2024.
Cocconi, Edoardo . "Pure Pursuit Algorithm and Autonomous Driving". Afribary, Afribary, 07 May. 2020. Web. 23 Nov. 2024. < https://track.afribary.com/works/pure-pursuit-algorithm-autonomous-driving >.
Cocconi, Edoardo . "Pure Pursuit Algorithm and Autonomous Driving" Afribary (2020). Accessed November 23, 2024. https://track.afribary.com/works/pure-pursuit-algorithm-autonomous-driving