Kp_beta gain with a negative value!

[Muhammad-Yazdian]

Describe the bug

• The controller only works when the Kp_beta gain is set to a negative value.

PythonRobotics/Control/move_to_pose/move_to_pose.py

Line 19 in 54be632

Kp_beta = -3

Expected behavior

• Gains are usually positive values and if the Kp_beta is set to a positive value, the robot will rotate forever at the target location!

Possible Solution

• There might be a simple sign flip error in the control law calculations.

Desktop info:

• Python version 3.7
• Windows

[qlibp]

Not sure why we need to set Kp_beta > 0? From the book, Kp_beta should < 0