Pure Pursuit Revisited: Field Testing of Autonomous Vehicles in Urban Areas

In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore, we apply some modifications to the Pure Pursuit algorithm. We have also conducted the simulation and field operational tests again to evaluate these modifications.