Robot stops in a corner

[jschrempp]

With 3.13 we have observed a case where the robot stops facing an open corner. What we believe happens:

1. Robot runs parallel to one wall, about 6 inches away.
2. Robot gets too close to front wall.
3. Sensors report open/close/open and robot decides to pivot.
4. Robot pivots towards the wall it was running parallel to.
5. Sensors report open/close/open and robot pivots again in the same direction.
6. Sensors now report close/close/close and robot stops.

In this L-shaped area the robot should not get stuck like this.