[Paper Review] Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing
3. Methodology
- Pure Pursuit uses the same $L_1$ guidance law that was proposed for UAV. With his, we show that Pure Pursuit disregards wheel slip, an assumption that fails at high speeds.
We propose a method able to better capture and control the real-world dynamics of the car.
A. Proposed Control System Overview
Ths $L_2$ guidance results in a desired centripetal acceleration $a_c$ of the vehicle, equal to the tangential speed $v_t$ multiplied with the yaw rate $\psi$
\[a_c = v_t \\ \dot{\psi} = 2 \dfrac{v_t^2}{L_d} \sin{}\]