From 16509fff2489b63f64f3ef8987e3c6cf43468f17 Mon Sep 17 00:00:00 2001 From: Decwest Date: Thu, 22 Jan 2026 21:05:17 +0900 Subject: [PATCH] :zap: add dwpp citation Signed-off-by: Decwest --- nav2_regulated_pure_pursuit_controller/README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/nav2_regulated_pure_pursuit_controller/README.md b/nav2_regulated_pure_pursuit_controller/README.md index a83eb720c7c..3f40839b6cc 100644 --- a/nav2_regulated_pure_pursuit_controller/README.md +++ b/nav2_regulated_pure_pursuit_controller/README.md @@ -64,9 +64,10 @@ Note: The maximum allowed time to collision is thresholded by the lookahead poin ## Dynamic Window Pure Pursuit Features This controller also implements the Dynamic Window Pure Pursuit (DWPP) algorithm, developed by [Fumiya Ohnishi](https://www.linkedin.com/in/fumiya-ohnishi-23b124202). -Unlike the standard Pure Pursuit, DWPP enables the consideration of velocity and acceleration constraints when computing velocity commands. -An overview of the algorithm can be found here: [DWPP Algorithm*](https://github.com/Decwest/nav2_dynamic_window_pure_pursuit_controller/blob/main/algorithm.md). -*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 (IAS-19), Genoa, Italy, 2025. +Unlike conventional Pure Pursuit variants, DWPP computes command velocities that track the path as accurately as possible while respecting velocity and acceleration constraints. In particular, it automatically slows down in sharp turns without manual tuning, thereby reducing path tracking errors. + +- Fumiya Ohnishi and Masaki Takahashi, **DWPP: Dynamic Window Pure Pursuit Considering Velocity and Acceleration Constraints**, arXiv:2601.15006., 2026. https://arxiv.org/abs/2601.15006 + ## Configuration