I would like to propose an option for the path creation when using the spiral path option for the mower. Currently the pathing algorithm doesn’t try to route around an obstacle until the normal path would breach the side of the obstacle/NGZ, which is fine. But the approach is then to immediately go around THE FAR side of the obstacle/NGZ and resume the parallel path on the other side. This tends to create VERY sharp turn requirements, often WELL in excess of 90 degrees. At that point, what is the point of having a smart turn option, because it’s still going to cause the Yarbo to make multiple in place (or very nearly in place) turns.
I suggest providing an option to path generate off the edge of a NGZ like it currently does as depicted below on the left, or bias the paths based off the center line of the NGZ as depicted below on the right. This would reduce the amount of non straight paths the yarbo has to take in the rest of an area, and could lead to less instances were as the yard is completed you end up with little islands the yarbo has to go back and forth to complete at the end of the area.
PLEASE FORGIVE MY WHOLLY INADEQUATE DRAWING SKILLS
I could even be convince of only doing this for the leading half of the pattern and letting the trailing half retain the curves as depicted below, though that would still lead to the island issue.
