Investigate the use of improved vehicle lateral control algorithms for the present GPS CTE steering control

[TCIII]

According to Ezward, the path_follow.py template CTE steering algorithm, using GPS input, is really quite basic while more robust and proven methods of vehicle lateral control algorithms are readily available.

This tutorial on "Three Methods of Vehicle Lateral Control" provides good insights into Pure Pursuit, Stanley and MPC methods of lateral vehicle control as possible alternative algorithms.

Regards, TCIII