Theoretical background and application of multiple goal pursuit trajectory follower

Autonomous and self-driving technology is a rapidly emerging field among automotive-related companies and academic research institutes. The main challenges include sensory perception, prediction, trajectory planning and trajectory execution. The current paper introduces a design strategy and the mathematical background of the optimization problem with regard to the multiple goal pure pursuit algorithm. The aim of the algorithm is to provide a low degree of computational complexity and, therefore, a fast trajectory-tracking approach. Finally, in terms of our approach, not only the theoretical questions but the application challenges will be described as well.