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An Improved Pure Pursuit Algorithm for Tractor Automatic Navigation

In this paper, an improved pure pursuit (IPP) for tractor autonomous navigation is proposed. The kinematics model is based on simplified two wheeled vehicle Ackermann model. By detecting the trend of deviation to the planned path, the looking-ahead distance, a key parameter in the pure tracking algorithm, is automatically adjusted to improve the accuracy of tracking the planned path. The simulation and field test show that the new method has higher accuracy and is easy to implement.