robot slowed down to search for obstacles
Revert "robot slowed down to search for obstacles"

This reverts commit a13c312d60b07c37bb91752b6a4b4a4a186180b1.
Revert "Revert "robot slowed down to search for obstacles""

This reverts commit 90b0610c33713ee9d58397151c711848421388b6.