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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. 
+heading angle direction $\psi$ 
+
+# Sraight-line Following CCA
+Even the path 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 as shown in figure below. 
+![image](https://github.com/komxun/Carrot-Chasing-Algorithm-CCA/assets/133139057/4605f7c2-932e-403f-8b64-551f8239e34f)
+
+The algorithm can be summarized below. This has been coded in the main while loop in **CCA_Straight.m**
 
 ![image](https://github.com/komxun/Carrot-Chasing-Algorithm-CCA/assets/133139057/f63f7179-9559-4ba7-85a4-dc1fec7a0247)
 
 
 
+# Result - CCA Straight-Line
+![image](https://github.com/komxun/Carrot-Chasing-Algorithm-CCA/assets/133139057/c14b2706-c9c2-4caa-908e-622ff491f453)
+![image](https://github.com/komxun/Carrot-Chasing-Algorithm-CCA/assets/133139057/a6c02fc1-9da9-4cf3-889a-5002b054d595)
+![image](https://github.com/komxun/Carrot-Chasing-Algorithm-CCA/assets/133139057/3061d4f0-83fa-4eee-9c49-56932ea9ada2)
+
+
 # Reference
 [1] Bhadani, R. (2020). _Path Planning of Unmanned System using Carrot-chasing Algorithm_. arXiv preprint arXiv:2012.13227.