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I would like to implement pure pursuit waypoints navigation. we know that,

look ahead distance=look ahead gain*vehicle forward velocity

How can I calculate look ahead velocity gain/look ahead gain?

How can I calculate velocity profile for each waypoints?

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closed as too broad by 50k4, Andrew Oct 5 '16 at 12:00

Please edit the question to limit it to a specific problem with enough detail to identify an adequate answer. Avoid asking multiple distinct questions at once. See the How to Ask page for help clarifying this question. If this question can be reworded to fit the rules in the help center, please edit the question.

  • $\begingroup$ I am familiar with pure pursuit, but I don't believe I have seen your equation for look ahead distance before. Can you post a link to a paper describing it? $\endgroup$ – Ben Oct 4 '16 at 23:13
  • $\begingroup$ @Ben thank you very much. I wrote that line from the following code segment: $\endgroup$ – Learning Oct 5 '16 at 8:15
  • $\begingroup$ @Ben thank you very much. I wrote that line from a code segment. See link please: home.konkuk.ac.kr:8080/cms/Common/MessageBoard/…: $\endgroup$ – Learning Oct 5 '16 at 8:27
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My understanding of the pure pursuit algorithm is that the look ahead distance is a fixed parameter. In this original paper [1], there is a short discussion on choosing the look ahead distance. Look ahead distance selection

I believe you should tune this to the typical speeds of your robot and the types of paths you will be following (i.e. very curvy or straight).

[1] Implementation of the Pure Pursuit Path Tracking Algorithm. R. Craig Coulter, CMU, 1992.

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