enable reduced footprint for footprint clearing #105
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simplescreenrecorder-2024-12-07_11.04.39.mp4I have tested this in simulation, see the above video |
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AB#19208
Dont ignore points that are near to the edge of the robot footprint for safety.
When the obstacle is very close to the robot, some part of the obstacle is inside the footprint and some is outside. The robot cannot move forward as the obstacle is just in front of it but it can rotate in place. As our robot footprint is not a circle, a part of it hits the obstacle when it rotates.