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Update README.md #4114

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4 changes: 2 additions & 2 deletions nav2_graceful_controller/README.md
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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.

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

## Smooth control law
The smooth control law is a pose-following kinematic control law that generates a smooth and confortable trajectory for the robot to follow. It is Lyapunov-based feedback control law made of three components:
Expand Down Expand Up @@ -39,4 +39,4 @@ The smooth control law is a pose-following kinematic control law that generates
| `transformed_global_plan` | `nav_msgs/Path` | The global plan transformed into the robot frame. |
| `local_plan` | `nav_msgs/Path` | The local plan generated by appliyng iteratively the control law upon a set of motion targets along the global plan. |
| `motion_target` | `geometry_msgs/PointStamped` | The current motion target used by the controller to compute the velocity commands. |
| `slowdown` | `visualization_msgs/Marker` | A flat circle marker of radius slowdown_radius around the motion target. |
| `slowdown` | `visualization_msgs/Marker` | A flat circle marker of radius slowdown_radius around the motion target. |
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