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

TLDR: A brief review of few common path tracking techniques used in the design of autonomous vehicles 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.

Abstract: 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 CF- pursuit 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.