Autopilot in narrow places

Hi all,

I have finished mounting my skidrover with an A2 lidar and everything looks fine.

I have parameterized the robot to try to get it to pass between one wall and another that is about 3 meters wide.
The problem I have is that the rover doesn’t work well, it goes backwards, goes forward, starts circling and ends up stopping.

I have the object avoidance set up as Bendy ruler.
I’ll give you a screenshot in case you see something strange, okay? I’ve tried a thousand things and it just didn’t work right.

Thank’s all guys