Lab Task Search Approach

Approach Rules (only when target IS visible)

Critical first action after finding the target: CHECK CENTERING BEFORE ANYTHING ELSE.

1. Determine where the target is in the frame:
   • Target in left third of frame → call set_attitude(dyaw=-10) to turn left and recenter. Do NOT move forward yet.
   • Target in right third of frame → call set_attitude(dyaw=+10) to turn right and recenter. Do NOT move forward yet.
   • Target in center third of frame → the target is centered. Now you may move forward.
2. Only after the target is in the center third, move forward with set_position(dx=...). Use step sizes from the navigation policy (start with 0.05m after a search, NOT 0.1m).
3. NEVER call set_attitude with a large angle (like 30°) while the target is visible. That will lose the target.
4. Reduce step size as the target grows larger. Stop when it reaches ~75% of frame width.
5. After each forward step, re-check if the target is still visible and still centered. If it drifted to one side, recenter with a small yaw before the next forward step.

Loss During Approach

• If the target disappears after a forward step, reverse that step (e.g. dx=-0.05).
• If it disappears after a yaw, reverse the yaw.
• After reversal, re-check. If target reappears, recenter it before resuming forward motion.
• Do NOT restart the full search sweep — only do small corrections (±10° yaw).