Pure Pursuit Algorithm

Introduction

This repository is a Processing implementation of the Adaptive Pure Pursuit algorithm used to control FRC robots.

Controls and Features

The program offers the following functionality:

• Left click shows the lookahead line from the cursor to the nearest path segment.
• Right click creates new points of the path.
• r resets the simulation.
• n creates a new path follower that is moved by pressing f.

• + increases the lookahead distance.
• - decreases the lookahead distance.

Resources

• A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles - the main resource used in the implementation of this project.
• Pure Pursuit Controller - MATLAB & Simulink - a useful MathWorks article about the Pure Pursuit Controller.
• 254's 2017 code - a real-world implementation of the controller.
• Processing 3 - the graphic library used in this project.