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.

 

Rich

 

From: Arkapravo Bhaumik [mailto:arkapravobhaumik@gmail.com]
Sent: Wednesday, July 28, 2010 3:52 AM
To: playerstage-users@lists.sourceforge.net
Subject: [Playerstage-users] goto.cc in player installation files

 

Hi

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.

Regards

Arkapravo

--
Arkapravo Bhaumik
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