An improved Pure Pursuit path tracking method based on multi-scale fusion control

Weijie Fu, Hao Jiang, Gaojian Fan, Lianshuang Ning, Xinming Zhang, School of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Ministry of Education Key Laboratory for Cross-Scale Micro and Nano Manufacturing, School of Mechatronic Engineering and Automation, Foshan University

Journal of Vibration and Control

Published online on May 09, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
Path tracking accuracy and stability are crucial for Automated Guided Vehicles (AGVs) in intelligent manufacturing. Traditional Pure Pursuit (PP) methods involve an inherent trade-off: small look-ahead distances provide quick response but cause ...