[s2024 dynamics] Implement curvature based speed parameterization function

[Andy-Chen-design]

This commit introduces the curvature_based_speed_parameteriz() function in trajectory.py and adds a new configuration file curvature_based_speed_parameterize.yaml under GEMstack/knowledge/defaults. The CBSP function is designed to modulate vehicle speeds based on path curvature to enhance navigation accuracy and safety.

• The new curvature_based_speed_parameterize.yaml file contains default settings for the CBSP.
• Updates in trajectory.py include the implementation of the CBSP function which dynamically adjusts speeds based on the calculated curvature of the trajectory.

Report for this function is attached: Report for curvature base speed parameterize.pdf Demo video is provided: https://drive.google.com/file/d/1M9KnoV8lZueuzq20smS-EN8Mx9GSII2N/view?usp=drive_link

[sonarqubecloud[bot]]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
No data about Coverage
0.0% Duplication on New Code

See analysis details on SonarCloud

[Andy-Chen-design]

Report also added inside the group 8's google drive folder "final presentations and reports". Link of demo video is also attached inside the report.