Pure pursuit and its variants are widely used for mobile robot path tracking owing to their simplicity and computational efficiency. However, many conventional approaches do not explicitly account for velocity and acceleration constraints, resulting in discrepancies between commanded and actual velocities that result in overshoot and degraded tracking performance. To address this problem, this paper proposes dynamic window pure pursuit (DWPP), which fundamentally reformulates the command velocity computation process to explicitly incorporate velocity and acceleration constraints. Specifically, DWPP formulates command velocity computation in the velocity space (the $v$-$ω$ plane) and selects the command velocity as the point within the dynamic window that is closest to the line $ω= κv$. Experimental results demonstrate that DWPP avoids constraint-violating commands and achieves superior path-tracking accuracy compared with conventional pure pursuit methods. The proposed method has been integrated into the official Nav2 repository and is publicly available (https://github.com/ros-navigation/navigation2).

翻译：纯追踪及其变体算法因其简单性和计算效率而被广泛应用于移动机器人路径跟踪。然而，许多传统方法未能显式地考虑速度与加速度约束，导致指令速度与实际速度之间存在偏差，进而引发超调及跟踪性能下降。为解决此问题，本文提出动态窗口纯追踪（DWPP）方法，该方法从根本上重构了指令速度的计算过程，以显式地纳入速度与加速度约束。具体而言，DWPP在速度空间（$v$-$ω$ 平面）中构建指令速度计算模型，并选择动态窗口内最接近直线 $ω= κv$ 的点作为指令速度。实验结果表明，相较于传统纯追踪方法，DWPP能够避免产生违反约束的指令，并实现更优的路径跟踪精度。所提方法已集成至官方Nav2代码库并公开可用（https://github.com/ros-navigation/navigation2）。