graceful-controller

What problem does it solve?

GracefulController implements a smooth control law for gracefully approaching a goal pose, producing arc-like motion instead of sharp, abrupt maneuvers.

Core Features & Use Cases

• Smooth docking and precise approach to a goal pose with curvature constraints.
• Supports multiple controller plugins and per-path selection via the controller_id parameter.
• Configurable parameters such as min_turning_radius, v_linear_min/max, k_phi, initial_rotation, and final_rotation to tailor behavior for real-world deployments.

Quick Start

Configure the GracefulController as the active controller in your controller_server configuration and tune min_turning_radius as needed.