goto.cc isn’t supposed to be very accurate (and makes mention of that several times in the code). Its main purpose in life is to demonstrate the threading functionality of libplayerc++. Which aspects of it would you like to improve? The motion is controlled by a proportional controller with saturation limits, you could always tweak the parameters (for example, the turn controller has to be more than 10 degrees off course to make a change.) The avoidance algorithm is also very simple; you could change it to some kind of wall-following scheme or something.
There is a driver called “goto” that handles getting your robot from point A to point B. If you want obstacle avoidance along the way, you can use vfh or nd instead.
The goto.cc program in Player installation files is not really a very accurate program. Any suggestions on improving it ? It would really be wonderful if there was a more precise program.
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