Pure pursuit tracking
---------------------

Path tracking simulation with pure pursuit steering control and PID
speed control.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/pure_pursuit/animation.gif

The red line is a target course, the green cross means the target point
for pure pursuit control, the blue line is the tracking.

Code Link
~~~~~~~~~~~~~~~

.. autofunction:: PathTracking.pure_pursuit.pure_pursuit.pure_pursuit_steer_control


Reference
~~~~~~~~~~~

-  `A Survey of Motion Planning and Control Techniques for Self-driving
   Urban Vehicles <https://arxiv.org/abs/1604.07446>`_
