From ddfed98937e1c41cb55b380272cb5d76a6871b6c Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 28 Jun 2021 10:03:20 -0700 Subject: [PATCH] Update README.md --- nav2_regulated_pure_pursuit_controller/README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/nav2_regulated_pure_pursuit_controller/README.md b/nav2_regulated_pure_pursuit_controller/README.md index 84a40e8a07..c3dbbba57f 100644 --- a/nav2_regulated_pure_pursuit_controller/README.md +++ b/nav2_regulated_pure_pursuit_controller/README.md @@ -22,6 +22,8 @@ In order to simply book-keeping, the global path is continuously pruned to the c Finally, the lookahead point will be given to the pure pursuit algorithm which finds the curvature of the path required to drive the robot to the lookahead point. This curvature is then applied to the velocity commands to allow the robot to drive. +Note that a pure pursuit controller is that, it "purely" pursues the path without interest or concern about dynamic obstacles. Therefore, this controller should only be used when paired with a path planner that can generate a path the robot can follow. For a circular (or can be treated as circular) robot, this can really be any planner since you can leverage the particle / inflation relationship in planning. For a "large" robot for the environment or general non-circular robots, this must be something kinematically feasible, like the Smac Planner, such that the path is followable. + ![Lookahead algorithm](./doc/lookahead_algorithm.png) ## Regulated Pure Pursuit Features