I am trying to use the ND driver for local obstacle avoidance. The problem I
am running into is the fact that when the robot is in a corner, it seems to
stay there as it turns one way, then the other, then the previous, and then
the other, etc, etc. Logic would state that it does so because there is more
open space on the other end and thus the rotation keeps on changing. My
question is thus as follows. Has anyone overcome this problem and made it
turn only one way instead of looking for most open space? If so, your help
would be greatly appreciated. The robot knows where it's going (destination
cell and angle)
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