I don't get it. This entire article seems to be talking around the actual issue. You need to have a dynamics model inside your trajectory planner.
If you have non zero inertia, then refusing to model inertia isn't technically correct or optimal.
The turn penalty is a way to avoid having an explicit dynamics model, which is a nice hack that will probably return pretty good results.
There is also a missing reference to liquidity preference. People don't make expensive and costly plans, because they represent a commitment and obligation to follow the plan through. Unlike what economists say, people don't actually make lifelong commitments at birth and then just follow them. They usually make decisions on the spot with the information they learned during the course of their life.
If you have non zero inertia, then refusing to model inertia isn't technically correct or optimal.
The turn penalty is a way to avoid having an explicit dynamics model, which is a nice hack that will probably return pretty good results.
There is also a missing reference to liquidity preference. People don't make expensive and costly plans, because they represent a commitment and obligation to follow the plan through. Unlike what economists say, people don't actually make lifelong commitments at birth and then just follow them. They usually make decisions on the spot with the information they learned during the course of their life.