Pure Pursuit implementation (exists?)

winstxnhdw / KinematicBicycleModel

A description of the Kinematic Bicycle Model written in Cython with an animated example.

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Pure Pursuit implementation (exists?) #1

Closed IonyM-BWR closed 3 years ago

IonyM-BWR commented 3 years ago

Hi W!

I'm looking to evaluate the pure-pursuit algorithm in your simulator. Do you have already an implementation? If not, I'd be happy to propose my solution and to hear recommendations. Specially on making the lookahead distance dynamic, maybe speed dependant as proposed here: PurePursuit [taken from https://www.coursera.org/learn/intro-self-driving-cars]

cheers!

winstxnhdw commented 3 years ago

Hello,

The animation here uses the Stanley method for its controller. As for the reason I didn't implement a Pure-pursuit controller instead is because tests done by others have shown that a Pure-pursuit controller is inferior for minimising crosstrack error and discomfort in most cases.