Splet20. dec. 2024 · 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. Splet5 Y I Figure 1. Geometry of the Algorithm. The following two equations hold. The first is from the geometry of the smaller right triangle in Figure 1. The second from the summing …
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