Currently the LocalPlanner can select any tentacle in the speed set. Due to the huristic nature of the behavior calculations, this can introduce oscillations when two tentacles on opposite sides of the center line are really close to each other in the fitness curve. There should be some kind of limit that reduces the speed that LocalPlanner can change the tentacle (perhaps 1/4 of the difference between the selections) to reduce these oscillations.
Currently the LocalPlanner can select any tentacle in the speed set. Due to the huristic nature of the behavior calculations, this can introduce oscillations when two tentacles on opposite sides of the center line are really close to each other in the fitness curve. There should be some kind of limit that reduces the speed that LocalPlanner can change the tentacle (perhaps 1/4 of the difference between the selections) to reduce these oscillations.