Vehicle Path Tracking Using Pure Pursuit Controller
This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios.
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This submission contains a set of models to show the implementation of a pure pursuit controller on a vehicle under different scenarios. About the models: These models show a workflow to implement a pure pursuit controller to track a planned path. Steps below describe the workflow:
1. Generating waypoints
2. Formulating required steering angle for lateral control
3. Implementing a longitudinal controller to track the path at higher velocity
4. Visualizing vehicle final path in Bird's-Eye Scope and a 3D simulation environment.
To learn more about the workflow, watch this video: https://www.youtube.com/watch?v=zMdoLO4kRKg
Contact:
Please write to racinglounge@mathworks.com with any questions or suggestions.
For R2020b: Click on "Download from GitHub" button above.
For R2020a: https://github.com/mathworks/vehicle-pure-pursuit/archive/v1.0.1.zip
Cite As
MathWorks Student Competitions Team (2026). Vehicle Path Tracking Using Pure Pursuit Controller (https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.1.1), GitHub. Retrieved .
General Information
- Version 1.1.1 (757 KB)
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View License on GitHub
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.1.1 | See release notes for this release on GitHub: https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.1.1 |
||
| 1.0.1 | See release notes for this release on GitHub: https://github.com/mathworks/vehicle-pure-pursuit/releases/tag/v1.0.1 |
