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Vehicle Path Tracking Using Pure Pursuit Controller

version 1.0 (751 KB) by MathWorks Student Competitions Team
This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios.

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Updated 06 Jul 2020

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This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios. About the models: These models show a workflow to implement a pure pursuit controller to track a planned path. Steps below describe the workflow:
1. Generating waypoints
2. Formulating required steering angle for lateral control
3. Implementing a longitudinal controller to track the path at higher velocity
4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment.

To learn more about the workflow, watch this video: https://www.youtube.com/watch?v=zMdoLO4kRKg

Contact:
Please write to racinglounge@mathworks.com with any questions or suggestions.

Cite As

MathWorks Student Competitions Team (2020). Vehicle Path Tracking Using Pure Pursuit Controller (https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.0), GitHub. Retrieved .

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MATLAB Release Compatibility
Created with R2020a
Compatible with any release
Platform Compatibility
Windows macOS Linux

Models/1_Curved_Low_Velocity

Models/2_Curved_High_Velocity

Models/3_USCity

Models/1_Curved_Low_Velocity

Models/2_Curved_High_Velocity

Models/3_USCity