Vehicle Path Tracking Using Pure Pursuit Controller

This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios.

This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios. About the models: These models show a workflow to implement a pure pursuit controller to track a planned path. Steps below describe the workflow:
1. Generating waypoints
2. Formulating required steering angle for lateral control
3. Implementing a longitudinal controller to track the path at higher velocity
4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment.

To learn more about the workflow, watch this video: https://www.youtube.com/watch?v=zMdoLO4kRKg

Contact:
Please write to [e-mail] with any questions or suggestions.

For R2020b: Click on "Download from GitHub" button above.
For R2020a: https://github.com/mathworks/vehicle-pure-pursuit/archive/v1.0.1.zip