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Wat is the angle range of laser scan ??? If it is more -90 to +90 then it can easily happen that some of the sensor readings will be more than 0.8 even if ur obstacle is in front of the robot. So try determining the position of the obstacle using sensor reading. This can be easily done if you know the angle of range reading w.r.t to robot.So using that u can estimate the position of obstacle and accordingly reduce the velocity as ur doing above. Dont hesitate to ask if u have anymore questions.