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Lateral control of an autonomous vehicle based on Pure Pursuit algorithm

Autonomous vehicle is a widely researched area, especially over the past three decades. The developments in this field are boosted mainly by the DARPA challenges organized from 2004. Autonomous vehicle has different fields of study, out of which the problem of path tracking is considered here. Path tracking control can be categorized as lateral and longitudinal control, out of which lateral or steering angle control is addressed in this paper using Pure Pursuit algorithm. The effectiveness of this algorithm is tested for different curvature paths. Simulation is done in OCTAVE for checking the effectiveness of the method described using different tracks.