Obstacle -> back to route, violates the perimeter

[themanfrommoon]

Ich machs mal kurz: Wann kommt's?

Das ist aus dem Alfred Channel vom 26. Mai 2024 und sollte schnell umgesetzt und einfach sein.
Es wäre eine Mega Hilfe und Verbesserung und es würden sich viele Leute darüber freuen!

Beste Grüße,
Chris

[greymfm]

Actually, this is a good enhancement and we should give priority to it, so it will be implemented as soon as possible. Meanwhile I have written the requirements in English language, so that a human (or AI) can understand what to do for the implementation:

Context:
A differential-drive robot mower uses RTK GPS to mow the lawn by a given list of waypoints (coverage planning). In addition to the waypoint list, it has the following data: a perimeter (a list of points that describes the waypoints that the robot center point can follow around the working area), a list of exclusions (each exclusion describes the waypoints that the robot center point can follow around no-go areas) and a list of dynamic obstacles (each obstacle describes the waypoints that the robot center point can follow around the obstacle).

Requirement:
Add code so that the robot footprint (4 points that the describe the boundary of the robot and a center point where the robot differential wheels turn around) never exceeds half of the robot width over any perimeter line, any obstacle line, any exclusion. Instead additional waypoints should be inserted for the next waypoint in the list.