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Correct paper name for graceful controller
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Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
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SteveMacenski authored and tonynajjar committed Dec 9, 2024
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# Graceful Motion Controller
The graceful motion controller implements a controller based on the works of Jong Jin Park in "Graceful Navigation for Mobile Robots in Dynamic and Uncertain Environments". (2016). In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.
The graceful motion controller implements a controller based on the works of Jong Jin Park in "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environment". In this implementation, a `motion_target` is set at a distance away from the robot that is exponentially stable to generate a smooth trajectory for the robot to follow.

See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-graceful-motion-controller.html) for additional parameter descriptions.

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