This is an AGV path tracking demo by Philippe Piatkiewitz at Vectioneer.
He implemented this by using Pure pursuit sample code with the following modifications.
- The selection of the next waypoint was improved and avoids finding waypoints that already have been passed.
- Added the option that the AGV automatically stops at the last waypoint and then also re-orients itself in the desired direction.
- Allow the AGV to drive backwards if that path is shorter.
- Lastly adjust the speed in the corners based on the desired steering angle.