It needs some kind of a look ahead so it knows how much it needs to turn to get to the target. The zigzag is caused by overshooting the target. Find a way to make it not overshoot, and you should remove most of the oscillation.
It needs some kind of a look ahead so it knows how much it needs to turn to get to the target. The zigzag is caused by overshooting the target. Find a way to make it not overshoot, and you should remove most of the oscillation.