Pure Pursuit

Why?

Pure Pursuit has caused me a lot of reading papers, taking notes, and a few headaches. It is extremely fun though, and it teaches you a lot of maths :). I will try to explain it here, and have also listed several resources I have used to learn this.

• Projective Geometry
  • I reccomend going through node4 (inclusive). Most of the rest is not needed
• Mobile Robot Kinematics
  • Note: the matrices at the end can be intimidating. To know how these work (assuming you know Linear Algebra) learn Projective Geometry
• Mobile Robot Kinematics