[Playerstage-developers] vfh is too slowly

[Valentino <pun...@gm...>]

i
i have developed control program for my robot (a pioneer 2dx). This
robot must sorround a enemy robot.  Enemy robot go in wander into the
world and my robot must intercept and sorround it.
So i'm using vfh driver and GoTo function in my control program
(written in C) for moving my robot around enemy robot (for sorround
it. Goto(x,y) function is important for moving my robot to next point
on circumference with center in enemy robot) and it work well. But  i
have a problem with vfh driver.... my robot go around enemy robot too
slowly. So enemy robot can always  escape from it.
If i increase "max_speed" field in config file, my robot start to
sorround enemy robot and then lost it (because my robot move far away
from enemy... i think because it cannot turn quickly).
i have changed    min_turnrate, max_turnrate_0ms,  max_turnrate_1ms
and max_speed fields in config file but i cannot find good
configuration.
Is there another way to take GoTo function ???
thanks in advance and sorry for my bad english.