Pure Pursuit Revisited: Field Testing of Autonomous Vehicles in Urban Areas

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Oct 2016Publisher:IEEEJournal:2016 IEEE 4th International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA)

Authors: Hiroki Ohta; Naoki Akai; Eijiro Takeuchi; Shinpei Kato; Masato Edahiro;

doi: 10.1109/cpsna.2016.10

Pure Pursuit Revisited: Field Testing of Autonomous Vehicles in Urban Areas

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Abstract

In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore, we apply some modifications to the Pure Pursuit[1] algorithm. We have also conducted the simulation and field operational tests again to evaluate these modifications.

Related Organizations

Nagoya University
Japan
University of Tokyo
Japan

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