What does look-ahead distance mean?

In pure pursuit, how far along the path the aim point is placed. A longer look-ahead gives smoother, gentler tracking that cuts corners; a shorter one tracks tightly but oscillates more.

Also written as: look-ahead distances, lookahead distance

In a lesson

L is the look-ahead distance, and it is the only number in the algorithm with any real choice in it. Everything good and everything bad about pure pursuit is a consequence of that one value.

Learn it

• Taught in U10.4 Pure pursuit Following a trajectory, University

Used in

• U9.7 Project: plan a route and drive it

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