Pure Pursuit Path Planner

Instructions

  • Add points by clicking on the image of the field.
  • To remove points, hover over the point you want to remove, and when it turns red click it.
  • To edit the x and y coordinates or speed of the point, click on the point number you want to edit (which are in the boxes that say "Point [point number]"). You can then drag the sliders to what ever you want the values to be.
  • To adjust the look ahead distance, just drag the slider with that label.
  • When you are ready, click the "Run Simulation" button to see how the robot will go through the field.
  • When you have your path planned out, scroll all the way to the bottom where you will see an output section. In this section you can simply copy and paste the array of objects into a C++ program and then have your pure pursuit algorithm loop over those values.

Output


[

{ 
int x = 36;
int y = 10.5;
double speed = 1.5;
int lookAheadDistance = 30;
},

{ 
int x = 36;
int y = 13.5;
double speed = 1.5;
int lookAheadDistance = 30;
},

]