Pure Pursuit and Programming

[Saffron]

I hear about Pure Pursuit a lot in programming autonomous programs. I’m not our team’s programmer, but as captain I feel like I should understand these things better; could the all-knowing public give me the basics on things like pure pursuit and PID and stuff? I’m willing to watch some youtube videos too if you have any links. Thank you!!

[46X]

Here’s a paper on pure pursuit:

paper: Implementation of the Adaptive Pure Pursuit Controller

Here’s a forum post on odometry and PID

Flowchart for learning programming, particularly Odometry

I teach robotics and have some of my programming minded students working on building a flowchart for learning odometry in stages rather than all at once. Currently my Jr/Sr. new-to-robotics-but-not-to-C++ students are on step 5 or 6. Here are the tasks I have had my programmers complete to expedite understanding autonomous navigation. Please give me feedback, or let me know if you think there are better checkpoints instead of the ones below. Make a translational PD control for one motor. …

[Saffron]

Thank you so very much!!