AUTO-TUNABLE PATH CONTROLLER WITH DYNAMIC AVOIDANCE CAPABILITY

A path control systems and methods are disclosed that can aide in keeping an autonomous vehicle on a path. A current estimate of the autonomous vehicle's first position (x, y), heading, and velocity as well as a path of interest (e.g., breadcrumbs, line-arcs, or clothoid segments each containing velocity information) can be used to output a command velocity, command curvature, and/or a vector of waypoints. The command velocity, command curvature, and/or a vector of waypoints can be followed to move the autonomous vehicle from the first position onto the path of interest. An obstacle map may also be used to provide a path to the path of interest that avoids the obstacles on the obstacle map.