I just bought a Pi9 and really only have one bigger issue with it. Since you choosen for the robot not to remember blueprints my cleaner have an tendency to miss rooms and it also have problems finding its way out of its first room.
two suggestions to solve this without introducing blueprints.
- manual override. Introduce a feature enabeling to manually control the robot. This way I could manually steer it to the room I want it to clean. And the robot will still find its way back to the charging station.
- viritual checkpoints. With the charging station as point zero enable a feature to set out viritual checkpoints that the robot can start from or include in a scheduled cleaning. Monday, start from point a. Tuesday, start from point b, Wednesday clean point c,d and e.
i believe this would solve my problem without introducing saved blueprints.