How about automatically increasing the setback when traversing between different locations within a mowing plan? I’ve had many instances where my mower gets confused while attempting to traverse around boundaries or no-go zones. Sometimes it gets stuck, often it oscillates back and forth, wearing the grass out, before finally driving around the zone or edge. In the case pictured here, it kept moving back-and-forth over the same spot until I checked my app from work and manually drove it around the edge of the no-go zone. It never actually entered the no-go zone but just got confused. Yarbo support told me to increase the setback distance, but if that’s the solution why not use a much larger setback only while traversing so it stays well away from problem spots without affecting my whole area?
I do agree, it shouldn’t hug the boundaries so closely when turning and navigating.
However, these little hooks might be a contributing factor to why it’s getting confused. This is a known issue and increasing the set back from zero to 4 or more is the work around.
Check the rest of your map for hooks and pinched boundaries (areas with NGZ’s that are tight against a boundary leaving no room for it to maneuver). They can also impact it, even if not directly where the issue is occurring.
I thought the hook issue only came into play if the hook was in the area the rover was trying to navigate. Why would the hooks affect traversing this area? They hooks are nowhere near the trouble spot.
Yeah, folks have brought this up – it really does get so tight to what I call “utility paths” (“navigation paths” or whatever) that the mower will actually hit things along the way. I am going to see how the next firmware does, as it’s supposed to be kinda big, with a basic Tow Mode for sure, and who knows – hopefully the Pathway variations and those fixes to “driving across the freshly mowed part.” “Go to Waypoint” should be there. Not sure about “Come to Me” or “Go to a Pin” (both have been requested).
In yesterday’s “live” Tow Mode demonstration the Yarbo moderator said the new firmware is due to drop in early June – as in next week. AND—spoiler!—it’ll be SAM – AND MOWER – per Ken K. So I gave that four thumbs up. 
Seen a few instances of where it was elsewhere in the map and in some instances it would just sit there rocking back and forth continuously or spin in circles. Most of those had path planning lines outside the boundary. Can’t be certain it’s your issue, I just mention it if it’s something that is easy enough to fix. If it had to be that way for whatever reason then it might be worth dropping a ticket so they can see if there is something else that could be affecting it. Based on what I see there, it looks like there shouldn’t be an issue based on the plotted path. Just can’t see the whole area to see if it might be something else or this is just the way it’s currently working. They do tweak the algorithms each update and refine things.
YES, @bryan.wheeler! It pulls such tight navigation lines at border corners, then it might stop and wiggle and rock back and forth when it reaches those spots, and I suspect it may be hitting my fence post (haven’t watched it). No need for that – use more of the Area, vary it by using a random distance 1 to N rover widths away from the border.
I would map this as a separate area. Then mow the long strip on the right up and down rather than side to side. Yarbo might then approach the troublesome corner from a different angle. As a side benefit, the strip will have fewer turns and should mow faster with less stress on the grass.
Good idea. Then it wouldn’t be able to cut through there on its way to other spots.
Good point 
, I need to remove the hooks. But here is another trouble spot where it always gets hung up while traversing and it’s a tight turn, but no hook. If Yarbo automatically increased the setback while maneuvering to other locations, I think this could be avoided.
Agreed. That’s a lot of activity for that area too. Would be nice for it to vary it up some too (or just do things while in that specific area instead of having to double back several times).
Thanks for your suggestion. We’ve noticed the issue and planned to optimize it in the next update. And the optimization logic is similar to your suggestion. We appreciate your input to help us improve the product.