ESWeek 2021 - Education Lecture - Learn to Drive (and Race!) Autonomous Vehicles - Part II: PP

Lecture Content:
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00:00 Introduction
01:45 Raceline Creation
10:56 Path Tracking: Controller Idea
13:49 Pure Pursuit: Geometric Interpretation
22:07 Pure Pursuit: Pick the goal point
26:57 Pure Pursuit: Tuning
28:33 Additional Path Tracking Methods

This video is from the education track from the ESWeek 2021. In this education lecture we will talk about the how to drive (and Race) with an autonomous vehicle. You find all the information about the lecture here: https://esweek.org/education-a3-learn...

In this part we will explain you the theory and foundations of the raceline creation and how to track a path with the pure pursuit controller. We will explain in detail the individual functions that are needed and which parameters can be adjusted to create better and faster vehicle behavior.

Access the Lecture Slides: https://drive.google.com/file/d/1i1Ob...

Download the Code: https://github.com/f1tenth/ESweek2021...