DWPP: Dynamic Window Pure Pursuit Considering Velocity and Acceleration Constraints

DWPP is a pure pursuit variant that computes velocity commands in the velocity space (the v–ω plane) and selects the command within the dynamic window closest to the path-tracking condition ω = κv, so that the commands always respect the velocity and acceleration constraints.

This repository accompanies the article

Fumiya Ohnishi, Masaki Takahashi, “DWPP: Dynamic window pure pursuit considering velocity and acceleration constraints,” Robotics and Autonomous Systems, vol. 208, 105839, 2027. https://doi.org/10.1016/j.robot.2026.105839

🟢 Nav2 implementations

• Official Nav2 (ROS 2 Lyrical and later): DWPP is integrated into the official Nav2 repository. 👉 https://github.com/ros-navigation/navigation2
• ROS 2 Humble / Jazzy: a standalone Nav2 plugin is available. 👉 https://github.com/Decwest/nav2_dynamic_window_pure_pursuit_controller

Contents

• simulator/: kinematic simulator and the simulation studies of the article (Section 5). Outputs are under simulator/results/. -…