Outside the Zone. Again.

I have a small yard with a river rock path connecting the front and back. I've mapped the yards, and the channel between and thirty percent of the time it works well.

Well seventy percent of the time here's the problem: My Luba keeps deciding it's outside its zone or channel and stopping. Right now the thing is sitting on the sidewalk out front (where it will hopefully remain without getting stolen) because while turning around it went too far. And it keeps happening. The position info is fine via rtk and GPS, but it won't drive back towards it's work area.

And my channel can't be made wider, so when it slips a little on its way back home it's frozen out of position until I fix it.

This is a real problem. I can't send it a nudge to move it half a foot and so my expensive robot is just idling waiting to be carried off.