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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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  • $\begingroup$ 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, 2016 at 23:13
  • $\begingroup$ @Ben thank you very much. I wrote that line from the following code segment: $\endgroup$
    – Learning
    Oct 5, 2016 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, 2016 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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