Description
When a trajectory update is triggered by #35, calculate any and all points that need to be added to the current trajectory and rebuild the trajectory (add turns, etc.)
Action to Take
If the trajectory update is triggered by an obstacle (detected by LiDAR or ultrasonic sensors), LiDAR data from #23 will be needed to choose a point outside the obstacle's field of influence. Add a point that is safe to the path and set this as the next point to explore.
If the trajectory update is triggered by a path deviation (planned or unplanned), add any points necessary to get back on course. Points may not need to be added in this case, but can be added to enhance the path's smoothness
Description When a trajectory update is triggered by #35, calculate any and all points that need to be added to the current trajectory and rebuild the trajectory (add turns, etc.)
Action to Take