When navigating a real-world field/plantation the rover needs to be able to deal with obstacles. We therefore need to detect obstacles, avoid them and a adjust the navigation in a way that allows the rover to still monitor a large area.

Tasks

Add a distance sensor to estimate distance to obstacles

Add a bump sensor/switch to detect obstacles

Allow the rover to track distance and angles traveled to include obstacles in it's navigation pattern

Add an algorithm to the navigation to take obstacles into account.