PurePursuitDemo

Build

• .NET 8 SDK

Math

1. Transform the look-ahead point into the vehicle frame (x_local, y_local)
2. Compute the heading angle to that point
   • alpha = atan2(y_local, x_local)
3. Convert that angle into curvature (how sharp to turn)
   • kappa = 2 * sin(alpha) / Ld
4. Turn curvature into angular speed
   • omega = v * kappa
5. Differential-drive wheel speeds (track width = W)
   • vL = v - omega * (W/2)
   • vR = v + omega * (W/2)

Usage

• Draw Path：Left-click to add path points; drag red point to adjust them.
• Place Vehicle：Left-click to place the vehicle; drag the small blue circle in front of the vehicle to adjust yaw.
• Pick Lookahead：Left-click to specify the green look-ahead point.
• Pan/Zoom：Right-click and drag to pan; use the mouse wheel to zoom.

On the right panel, you can adjust Ld, v, TrackWidth, and WheelBase; the results and the drawing canvas update in real time.