Note: This page has been translated by MathWorks. Click here to see

To view all translated materials including this page, select Country from the country navigator on the bottom of this page.

To view all translated materials including this page, select Country from the country navigator on the bottom of this page.

Linear and angular velocity control commands

**Library:**Robotics System Toolbox / Mobile Robot Algorithms

The Pure Pursuit block computes linear and angular
velocity commands for following a path using a set of waypoints and
the current pose of a differential drive robot. The block takes updated
poses to update velocity commands for the robot to follow a path along
a desired set of waypoints. Use the **Max angular velocity** and **Desired
linear velocity** parameters to update the velocities based
on the performance of the robot.

The **Lookahead distance** parameter computes
a look-ahead point on the path, which is an instantaneous local goal
for the robot. The angular velocity command is computed based on this
point. Changing **Lookahead distance** has a significant
impact on the performance of the algorithm. A higher look-ahead distance
results in a smoother trajectory for the robot, but can cause the
robot to cut corners along the path. Too low of a look-ahead distance
can result in oscillations in tracking the path, causing unstable
behavior. For more information on the pure pursuit algorithm, see Pure Pursuit Controller.