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## Dynamic Window Pure Pursuit Features
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This controller also implements the Dynamic Window Pure Pursuit (DWPP) algorithm, developed by [Fumiya Ohnishi](www.linkedin.com/in/fumiya-ohnishi-23b124202).
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This controller also implements the Dynamic Window Pure Pursuit (DWPP) algorithm, developed by [Fumiya Ohnishi](https://www.linkedin.com/in/fumiya-ohnishi-23b124202).
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Unlike the standard Pure Pursuit, DWPP enables the consideration of velocity and acceleration constraints when computing velocity commands.
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An overview of the algorithm can be found here: [DWPP Algorithm](https://github.com/Decwest/nav2_dynamic_window_pure_pursuit_controller/blob/main/algorithm.md).
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