Help needed in Obstacle avoidance exercise

[lavish123409]

Hello everyone,

I am trying to do the Obstacle Avoidance exercise, but it is not working properly. Here, is a demo of it.

Screencast.from.03-17-2024.12.35.59.PM.webm

The problems which I think it is facing are -

1. The car is oscillating too much.
2. The car is not turning until it comes too close to an obstacle
3. The car is coming to the center very slowly

I tried to tweak a lot of parameters but nothing worked till now. If someone can help me out in this, it would be very appreciable.

Thanks