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A number of algorithms for path tracking are described in the robotics literature. Traditional algorithms, like Pure Pursuit and Follow the Carrot, use position information to compute steering commands that make a vehicle follow a pre-defined path approximately. These algorithms are well known to cut corners, since they do not explicitly take into account the actual curvature of the path. In this paper we present a novel algorithm that uses recorded steering commands to overcome this problem.doi:10.1504/ijvas.2006.012208 fatcat:ww7kd6jnqbakrph62ggihotaki