Currently, if the mapped area has a 90-degree turn, Yarbo tries to make a 90-degree zero turn during the perimeter lap. Quite often the back of Yarbo ends up against a snowbank and gets stuck.
I think Yarbo should not attempt zero turns near snowbanks. Instead, it should make corner turns with a proper radius.
If the suggested second perimeter run feature existed (which the devs keep refusing, even though users struggling with these devices would benefit from it), then on the second pass Yarbo should drive to the corner and then reverse itself about 1 meter. After that, it could make a turn with a proper radius.
This would ensure that the back of Yarbo doesn’t swing into the snowbank and get the device stuck, while still keeping the corners sharp.
However, if the second perimeter run is something the developers refuse to implement on principle—while users are out there digging their devices out of snow as a consequence of those decisions—then the corner-adjustment behavior should already be implemented on the first perimeter lap.
Unfortunately, reversing in deep snow increases the risk of the device getting stuck, and that is clearly a worse approach than simply re-running the edges and distributing the remaining snow evenly across the area (if the discharge direction does not allow throwing it outside the cleared zone).
And here is example how it currently basically optimize turns to get stuck in corners. https://youtu.be/grKg_3nJ9R0 See how it even try reverse to snowbank after turn to ensure that it will dig it self to stuck.