Bicycle-Model Path Tracking

A real kinematic-bicycle vehicle model — fixed wheelbase, clamped steering angle, a rate-limited steering actuator — drives itself around a field of obstacles toward a sequence of goals. It perceives the world only through a forward-facing sensor cone of tunable range and field of view, the way a camera or LIDAR-equipped car actually does, not as an all-seeing dot. A potential field turns what the sensor currently reports into a local target point, and a pure-pursuit controller converts that target into the one steering angle the vehicle's real turning geometry can achieve — the same control law used on real autonomous ground vehicles.