I always fond of robotics field. Which is why in the free time I always spend some time dabbling in the robotics.

In this section I want to talk about specific field of robotics, PID control. How after the path is generated, we smooth the path, so it's it's relevant to the direction of the word. We called this path smoothing.

Screenshot taken from Udacity 0:22

The blue path is the one that has been generated by the system, but it's not what we want. We want the cars to make a slow turn following the path. The green one should be ideal, but it's path that inpracticable. The car will be forced to turn 45% degrees at the beginning and at the end.