# Pure Pursuit

Linear and angular velocity control commands

**Libraries:**

Robotics System Toolbox /
Mobile Robot Algorithms

Navigation Toolbox /
Control Algorithms

## Description

The Pure Pursuit block computes linear and angular velocity commands for
following a path using a set of waypoints and the current pose of a differential drive
vehicle. The block takes updated poses to update velocity commands for the vehicle to
follow a path along a desired set of waypoints. Use the **Max angular
velocity** and **Desired linear velocity** parameters
to update the velocities based on the performance of the vehicle.

The look-ahead distance port and parameter compute a look-ahead point on the path, which is an instantaneous local goal for the vehicle. The angular velocity command is computed based on this point. Changing the look-ahead distance has a significant impact on the performance of the algorithm. A higher look-ahead distance results in a smoother trajectory for the vehicle, but can cause the vehicle to cut corners along the path. Too low of a look-ahead distance can result in oscillations in tracking the path, causing unstable behavior. For more information on the pure pursuit algorithm, see Pure Pursuit Controller.

## Examples

## Ports

### Input

### Output

## Parameters

## Extended Capabilities

## Version History

**Introduced in R2019b**