From 000b225608f69b3d1f7f5adc9463e34b313567c1 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 30 Sep 2024 13:50:30 -0700 Subject: [PATCH] Correct paper name for graceful controller Signed-off-by: Steve Macenski Signed-off-by: Joseph Duchesne --- nav2_graceful_controller/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_graceful_controller/README.md b/nav2_graceful_controller/README.md index 5c3f8a39fb5..24f1b851e7e 100644 --- a/nav2_graceful_controller/README.md +++ b/nav2_graceful_controller/README.md @@ -1,5 +1,5 @@ # 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.