I have a rover with the following dimensions.
(4) 24V motors
(1) Sabertooth Motor Controller
(1) Pixhawk Orange cube
(1) Lightware SF45/B LIDAR
My problem is that I do not feel as if the Rover avoids obstacles correctly. It will see the obstacle and move away from it, however it does not do it in a smooth or probing pattern. Instead the rover will sense the obstacle, turn 180 degrees away from it, then turn 90 degrees back towards it’s destination, then back to the 180 degrees away from destination, back to 90 degrees (same as before), then will continue on towards it destination. I will attach a hand drawing of how the rover reacts to obstacles. I will also attach the parameters that are uploaded to the rover that are associated with the OA and AVOID parameters. If anyone could give me some advice on what to change or what may work that would be greatly appreciated. Thank you in advance.
P.S. I am using ground steering and throttle on channels 1 and 3 respectively. I did this for easier control using only one stick in manual mode. These problems mentioned above occur in auto mode. There are 4 independent motors on my rover that all are driven by the sabertooth motor controller.
OA-TYPE=1 (Bendy Ruler)