navigate-to

# Navigate To Skill Move the robot to a target location safely using sensor feedback. ## Protocol 66 — MANDATORY **You MUST request user consent before ANY movement.** Do NOT call `move()` until the user has explicitly confirmed ("yes", "confirm", "proceed", "go ahead"). If consent is not yet granted: describe the planned movement and ask for confirmation. Stop there. ## Steps ### 1. Pre-flight check - Call `get_distance()` — if distance < 0.3m, report obstacle and abort - Call `get_telemetry()` — check battery > 10%, motors healthy - If any check fails: report the issue and do NOT proceed ### 2. Request consent Describe the intended movement clearly: "I plan to [move forward X metres / turn left / navigate to table]. Shall I proceed?" Wait for explicit confirmation. Do NOT continue without it. ### 3. Execute (after consent) - Move in increments: 0.3–0.5m steps maximum - After each step: call `get_distance()` to check for new obstacles - If obstacle detected (< 0.4m): stop immediately, report position - Continue until target reached or obstacle prevents further movement ### 4. Confirm arrival Report final position and any obstacles encountered. ## Safety rules (always enforced) - NEVER move if distance < 0.3m in direction of travel - NEVER exceed speed 0.3 m/s unless explicitly asked - ALWAYS stop on any sensor error — do not assume path is clear - If unsure about surroundings: ask for camera confirm before moving ## References See `references/named-locations.md` for pre-mapped location names. See `references/movement-primitives.md` for move() parameter patterns. ## Gotchas - **Distance sensor dead angle** — most ultrasonic/ToF sensors have a ±15° cone; objects at a sharp angle to the sensor may be missed; when navigating near shelving or walls, use visual confirmation too - **"Come here" is ambiguous** — don't guess the user's position; ask "Where are you relative to me?" or use camera to locate them - **Carpet/rug transitions** — wheel encoders can slip on soft surfaces; reported position may drift; recalibrate against a visible landmark after each room transition - **"Turn around" ≠ 180° spin** — on narrow paths a 3-point turn may be safer than an in-place rotation; check lateral clearance before spinning - **Battery warning at 15%** — navigation tasks can be battery-intensive; report low battery before starting a long movement, not in the middle of it - **Overshoot** — incremental 0.3m steps reduce overshoot, but on smooth floors the robot may coast a few cm past the target; this is normal, not an error ## Example User: "Go to the table" → `get_distance()` → 1.2m clear → "I plan to drive forward approximately 0.8 metres toward the table. Shall I proceed?" → User: "yes" → `move(linear=0.3)` → check → `move(linear=0.3)` → check → arrive → report