stanley paper

CMU-Robotics-Club · May 20, 2024 · 391b261 · 391b261
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commit 391b261
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diff --git a/rb_ws/src/buggy/scripts/auton/stanley_controller.py b/rb_ws/src/buggy/scripts/auton/stanley_controller.py
@@ -15,6 +15,7 @@
 class StanleyController(Controller):
     """
     Stanley Controller (front axle used as reference point)
+    Referenced from this paper: https://ai.stanford.edu/~gabeh/papers/hoffmann_stanley_control07.pdf
     """
 
     LOOK_AHEAD_DIST_CONST = 0.05 # s