5 局部控制器
============

局部控制器算法专题（``controller/``）。按 **Nav2 常用度 + Autonomy 落地优先级** 排列；选型与对比见 :doc:`总览 <../05_controller_algorithms>`。

.. toctree::
   :maxdepth: 1

   总览 <../05_controller_algorithms>
   Graceful Controller <10_graceful_controller>
   MPPI Controller <11_mppi_controller>
   RPP Controller <12_rpp_controller>
   DWB Controller <13_dwb_controller>
   TEB Controller <14_teb_controller>
   MPC Controller <15_mpc_controller>