A Review of some Pure-Pursuit based Path Tracking Techniques for Control of Autonomous Vehicle

Abstract

This paper gives a brief review of few common path tracking techniques used in the design of autonomous vehicles. Technique such as pure-pursuit, vector pursuit as well as CFpursuit which are all based on the pure-pursuit techniques were discussed and a detailed comparism was made between these geometric techniques. Also this review work discusses areas were little research has been done. Areas such as tracking of an implicit part of a mobile robot and proposes an area where feature research can be done such as tracking of both implicit and explicit path for a non-holonomic mobile robot.