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 # Carrot Chasing Algorithm (CCA)
+One of the simplest path-following algorithm is Carrot Chasing Algorithm (CCA). CCA exploits the virtual target (VTP) and make the UAV chase this VTP by updating the 
+heading angle direction $\psi$ Although the path generated is a nonlinear curve, the carrot chasing algorithm (CCA) for straight line can still be applied by simply discretizing the path into waypoints. After obtaining all the waypoints, CCA can be executed for each section of the path. 
+
+![image](https://github.com/komxun/Carrot-Chasing-Algorithm-CCA/assets/133139057/f63f7179-9559-4ba7-85a4-dc1fec7a0247)
+
 
 
 # Reference
-Bhadani, R. (2020). _Path Planning of Unmanned System using Carrot-chasing Algorithm_. arXiv preprint arXiv:2012.13227.
+[1] Bhadani, R. (2020). _Path Planning of Unmanned System using Carrot-chasing Algorithm_. arXiv preprint arXiv:2012.13227.
 
 [2] X. Jin, W. Mei and Y. Zhaolong, "Path Following Control for Unmanned Aerial Vehicle Based on Carrot Chasing Algorithm and PLOS," 2020 IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS), Dalian, China, 2020, pp. 571-576, doi: 10.1109/ICAIIS49377.2020.9194843.