Proposal for improving Pure Pursuit documentation

[Barth1777]

[Barth1777]

Hi,

I have been studying the Pure Pursuit implementation from PythonRobotics as part of a robotics trajectory-tracking project.

While working on it, I wrote a short derivation of the Frenet-frame dynamics used in path tracking, together with some geometric explanations and diagrams for Pure Pursuit (lateral error, heading error, curvature derivation, etc.).

Before adapting everything into a more GitHub-friendly format, I wanted to ask whether this kind of concise pedagogical mathematical documentation could be of interest for the project.

The goal would not be to add heavy theory, but rather short explanations directly connected to the existing implementation and simulations.

Thanks!