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Autonomous Racing Controllers: Trajectory Pursuit
Geometric Considerations
The Issue with State of the Art Pure Pursuit (PP)
Tire-Slip Consideration: Model- and Acceleration-based Pursuit (MAP)
Tire Parameters-Experiment
Tire Parameters-Pacejka Tire Model through Regression
Lightweight Model-Based Control via Lookup Table
Model and Control Performance Comparison
Pure Pursuit - Speed 80%
MAP Controller-Speed 90%
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