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An Improved Pure Pursuit Algorithm for Tractor Automatic Navigation
2021 IEEE 4th International Conference on Information Systems and Computer Aided Education (ICISCAE), 2021In 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 ...
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