How to solve this trajector problem? Two paths are two close or intersect

asked 2019-09-05 07:34:45 -0500

rjosodtssp gravatar image

I know this is weird, but my robot need to walk to the end of a narrow corridor then turn back, but when robot walk, I see path in Rviz are too close

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or they intersect like this in a corner

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robot is on path A, when it moves, it will be on path B, then it's stuck or turn around again and again.

How can I avoid these 2 cases, especially the first one. Can I delay path B's show ?

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