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DWPP: Dynamic Window Pure Pursuit for Robot Path Tracking Considering Velocity and Acceleration Constraints

🟢 Nav2 plugin implementation is now available!

👉 https://github.com/Decwest/nav2_dynamic_window_pure_pursuit_controller

Folder Structure

  • scripts/
    Contains simulation scripts for various pure pursuit methods. You can refer to these to understand how DWPP can be implemented.

  • ros1_node_example/
    Includes example ROS 1 implementations of DWPP and conventional pure pursuit methods.
    The file dwpp_ros_node.py was used in real-world robot experiments, but it depends on our private configurations and cannot be used directly. Please use it as a reference only.

  • results/
    Contains result figures used in the paper.

Citation

If you use this code, please cite the following paper:

Fumiya Ohnishi, Masaki Takahashi, “Dynamic Window Pure Pursuit for Robot Path Tracking Considering Velocity and Acceleration Constraints”, Proceedings of the 19th International Conference on Intelligent Autonomous Systems, Genoa, Italy, 2025.