Pure Pursuit and Programming

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!!


Here’s a paper on pure pursuit:

Here’s a forum post on odometry and PID


Thank you so very much!!