Consider the lost and map-less, truck driver driving down a country road which seems to be getting narrower and narrower. When should he bite the bullet and attempt to turn around?
Consider the rover attempting to do wall-hugging (in order to determine the boundaries of its roving area). It only has local knowledge, can't see around corners, and finds itself in a narrowing corridor. At what point should it turn around?
And if the rule is "turn around if narrow", what is stopping it from turning around again and again as it detects that it is in a narrow area?