[Feature Proposeal] Vector pursuit for Path tracking #1361
Description
Hey,
I would like to propose adding a Vector Pursuit controller to the path tracking algorithms in the repository.
Vector Pursuit is a geometric path tracking method similar in spirit to Pure Pursuit and Stanley, but instead of steering toward look-ahead point, it computes screw motion based on vehicle pose and reference path direction, taking heading of path also into account, which improves tracking significantly at tighter curves.
I will be implementing this thesis work.
https://apps.dtic.mil/sti/tr/pdf/ADA468928.pdf
Please suggest your feedbacks.
Thanks