Closed andrewgazelka closed 6 years ago
Adaptable Pure Pursuit!
From the Cheesy Poofs
* Basically, we find a spot on the path we'd like to follow and calculate the arc necessary to make us land on that
* spot. The target spot is a specified distance ahead of us, and we look further ahead the greater our tracking error.
* We also return the maximum speed we'd like to be going when we reach the target spot.
Think this is what @ritikmishra coined it?
Basically variable lookahead for given speeds Section 4.2 of Pure Pursuit Path Tracking Algorithm