Navigation Service

Overview

The Navigation Service handles autonomous navigation by calculating movement directions and speeds based on LiDAR data.
Built with Java, Maven, and Spring Boot.

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Modes

Simple Navigate

• Selects the furthest distance that is not in a restriction zone.
• Two calculation modes:
  1. Recalculate every 0.5s.
  2. Wait until obstacle is reached before recalculating.

Restriction Zones

Static

• Always points 180° from target direction.
• Prevents backtracking.
• Note: May prevent maze completion if backward angles are needed.

Dynamic

• Always points 180° from current heading.
• Prevents the robot from getting stuck in a loop.

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Commands

Action	Command
Run	sudo screen -S NavigationService mvn spring-boot:run
Test if running	`sudo screen -list
Stop	sudo screen -S NavigationService -X stuff "^C"

Caution

Always start the MQTT Broker first.

Important

Always use the session name NavigationService.