Pure Pursuit Controller

• This repo containts a starter implementation of pure pursuit controller for lane changing

• Following is the derivation of the controller

  

• Tuning parameters:

  • Speed dependent lookahead $ld$ params $K_d$, $ld_{min}$, $ld_{max}$
  • Vehicle wheelbase $L$
  • Target increment param $\epsilon$

• Example run (constant longitudinal acceleration of $1 m/s^2$)