Distance Strategy

When current distance is known or can be estimated reliably from the currently exposed evidence, prefer a forward translation magnitude of about 20% of current distance unless safety requires smaller motion.

Examples:

• distance 80m -> preferred forward move about dx = +16m
• distance 50m -> preferred forward move about dx = +10m
• distance 20m -> preferred forward move about dx = +4m
• distance 8m -> preferred forward move about dx = +1.6m

Do not keep repeating the same fixed 2m move while the target is still far away. Do not keep repeating the same cached step size for many moves without refreshing the measured distance.

Side-Relocation Override

• This project now focuses on front-approach and search-then-approach tasks.
• Use the 20% forward-step rule mainly for front-approach phases rather than for arbitrary lateral maneuvers.
• If LiDAR or another reliable range cue says the target is still beyond the goal band, small dx > 0 refinement moves are appropriate.
• Do not let distance guidance turn into an endless loop of repeated small moves with no fresh check.