Closed jim-v closed 6 years ago
turning round takes quite some space, but moving backwards takes less, so it may be useful to get out of a tight spot.
On Wed, Sep 20, 2017 at 9:45 PM, Jim Vaughan notifications@github.com wrote:
@jrlandau https://github.com/jrlandau reported that goals behind don't work.
Question: should it handle this as a special case and actually move backwards, or do the arctan planner thing and rotate to face the goal and drive towards it? If it moves backwards, then a front-facing LIDAR does not provide obstacle detection.
Definition of done: Backwards goals result in behavior that considered reasonable by consensus.
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Maybe it makes sense to go backward for short goals (<0.5 m) and do the atan2 method for backward goals beyond that distance?
Decision:
If within a threshold backward and in angular threshold, then arctan backward.
Otherwise do the 'current behavior' sans bugs.
@jrlandau reported that goals behind don't work.
Question: should it handle this as a special case and actually move backwards, or do the arctan planner thing and rotate to face the goal and drive towards it? If it moves backwards, then a front-facing LIDAR does not provide obstacle detection.
Definition of done: Backwards goals result in behavior that considered reasonable by consensus.