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We propose a modification to the popular pure pursuit algorithm for path following of car like platforms in which multiple look-ahead points along the target path are aggregated to form a spatially filtered steering command. Our approach enables complex following behaviors while avoiding such as oscillatory behavior observed in approaches with a single look-ahead point.
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Derek J. Chopp, Nate Spike, Jeremy Bos, Darrell Robinette, "Multi point pure pursuit," Proc. SPIE 11415, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2020, 1141505 (19 May 2020); https://doi.org/10.1117/12.2558943