Navigation Strategies

The Navigation Strategy is responsible for assembling appropriate sweep commands to send to the robot, including left wheel speed, right wheel speed and duration. It draws on values from the System Terms, and any User Terms that have been added, to match rule conditions and calculate speeds and duration.

The Navigation Strategy Tutorial is a good place to familiarise yourself with constructing strategies. In addition, a number have been included:

Rotate and Veer

This is the basic strategy developed in the tutorial.

Push Me Pull You

This is optimised for dual-cutter mowers operating a striped pattern.

PMPY Radial

This is optimised for dual-cutter mowers operating a radial pattern.

Attitudinal

This is optimised for dual-cutter mowers mowing complex patterns, like text.

Navigation strategies and mowing patterns often work together to achieve the desired outcome. For example, the Push Me Pull You strategy skips every third node in the PMPY pattern, to avoid excessive rotation and mow in parallel lanes.