Basic local and global planning integration. The global planner finds the path vertex with the furthest straight-line sight from the robot's location and this vertex is set as the local planner's target. This approach gets the job done most of the time, but is far from perfect. The car has odd movement quirks like passing through doorways at an angle. We should investigate modified versions of this approach (like fixing a maximum target distance, incorporating target angles).
I'm going to Close #72, but there is still refinement work to be done.
Basic local and global planning integration. The global planner finds the path vertex with the furthest straight-line sight from the robot's location and this vertex is set as the local planner's target. This approach gets the job done most of the time, but is far from perfect. The car has odd movement quirks like passing through doorways at an angle. We should investigate modified versions of this approach (like fixing a maximum target distance, incorporating target angles).
I'm going to Close #72, but there is still refinement work to be done.