My RC car’s steering angle is 18 degrees maximum. It can’t handle sharp turns very well. One way to address this issue is path-smoothing.

The video below compares sharp turns and smoothed turns. While the car crashes into the wall when the turns are 90 degrees sharp, it can make it to the goal position in the smoothed path with relative ease.

Gradient descent is used to smooth the given path in terms of waypoints in the video. To find out how, please see my git repo for the details. Note that steering PID derivative coefficient of real RC car is lowered by one to reduce steering oscillation.