Commits on Apr 23, 2024

1. Change automatic steering to follow "local" nearest point instead of … …

   …"global" while following a curve
   
   The previous implementation led the vehicle to sometimes pick a wrong part of a curve when the curve was intersecting itself (AB-curve) or there were more than one parallel lines near to each other (typically occurs when driving along an inner curve formed from a boundary curve and the field's shape is not convex).
   
   This changes the curve-following algorithm to use a search for "local" nearest point instead of "global" (= taking all the points on the curve into account) when already following the curve.
   
   Look ahead-distance is used when searching the nearest "local" point to prevent problems in tight hairpins caused by the search sticking to a local minimum "on the wrong side" of the hairpin (especially when using large look ahead values causing the vehicle to take a shortcut).
   
   Fixes farmerbriantee#391

   

   GNSS-Stylist committed Apr 23, 2024
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