Ah yes, the point about a mental map is very important, i didn’t consider this. I just thought, but a few small obstacles in the way, so it’s not too hard to run past it. But paradoxically doing that i probably made it harder, since all of these are very insignificant and “look” the same. It’s probably a good idea, to have at least 1 big landmark, which is very different from the rest, so you can gain a sense of orientation based on that.
The point with the sidestep i don’t quite get, you can do this also when the obstacle is round? In fact, that is what i’m doing as well, just side stepping it when i found it. I mean the important thing would be, that it’s uniform right?
Btw, also one of my first ideas was to do something based on step count, sound very logical.