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3. Execute (after consent)

• Move in increments: 0.3–0.5m steps maximum
• After each step: call get_distance() to check for new obstacles
• If obstacle detected (< 0.4m): stop immediately, report position
• Continue until target reached or obstacle prevents further movement

4. Confirm arrival

Report final position and any obstacles encountered.

Safety rules (always enforced)

• NEVER move if distance < 0.3m in direction of travel
• NEVER exceed speed 0.3 m/s unless explicitly asked
• ALWAYS stop on any sensor error — do not assume path is clear
• If unsure about surroundings: ask for camera confirm before moving

References

See references/named-locations.md for pre-mapped location names. See references/movement-primitives.md for move() parameter patterns.

Gotchas

• Distance sensor dead angle — most ultrasonic/ToF sensors have a ±15° cone; objects at a sharp angle to the sensor may be missed; when navigating near shelving or walls, use visual confirmation too
• "Come here" is ambiguous — don't guess the user's position; ask "Where are you relative to me?" or use camera to locate them
• Carpet/rug transitions — wheel encoders can slip on soft surfaces; reported position may drift; recalibrate against a visible landmark after each room transition
• "Turn around" ≠ 180° spin — on narrow paths a 3-point turn may be safer than an in-place rotation; check lateral clearance before spinning
• Battery warning at 15% — navigation tasks can be battery-intensive; report low battery before starting a long movement, not in the middle of it
• Overshoot — incremental 0.3m steps reduce overshoot, but on smooth floors the robot may coast a few cm past the target; this is normal, not an error

Example

User: "Go to the table" → get_distance() → 1.2m clear → "I plan to drive forward approximately 0.8 metres toward the table. Shall I proceed?" → User: "yes" → move(linear=0.3) → check → move(linear=0.3) → check → arrive → report