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Uptate DWPP paper information #5889

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SteveMacenski merged 1 commit into from
Jan 23, 2026
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Uptate DWPP paper information #5889

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7 changes: 4 additions & 3 deletions nav2_regulated_pure_pursuit_controller/README.md
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Expand Up @@ -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

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