# DWPP: Dynamic Window Pure Pursuit Considering Velocity and Acceleration Constraints

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/sogsevhfnw5ffqbd7k2nf4b8f
- Original: https://arxiv.org/abs/2601.15006

## Summary

The authors propose dynamic window pure pursuit (DWPP), which moves command velocity computation into the v-ω velocity space and selects, within the dynamic window, the point closest to the line ω=κv, thereby explicitly incorporating velocity and acceleration constraints. Experiments show that DWPP avoids constraint-violating commands and achieves better path-tracking accuracy than conventional pure pursuit methods. The method has been integrated into the official Nav2 repository and made publicly available, and the paper has been accepted by Robotics and Autonomous Systems.