Beyond Proportional Control: A Comparative ROS2 Simulation on Path Tracking with PID+Pure Pursuit

초록

This study presents a quantitative comparison of a proportional controller and a hybrid PID+Pure Pursuit controller for autonomous path tracking in a ROS 2 simulation. Moving beyond single-metric evaluation, we conducted 10 repeated trials for each controller, analyzing more than ten performance indicators to assess the trade-offs between efficiency, stability, and ride comfort. Efficiency improved under the hybrid PID+Pure Pursuit controller - lap time decreased by 13.5% and average speed increased by 15.0% Cost metrics moved in the opposite direction: steering-rate RMS rose by 11.5% and lateral-acceleration RMS by 31.2%. The smoother trajectory did not translate into comfort because higher velocity amplified lateral forces; meanwhile, longitudinal-jerk RMS showed no meaningful difference (p = 0.923). Overall, the evidence argues against single-metric, errorcentric judgments and motivates a reproducible, data-driven, multimetric validation pipeline before field deployment.

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