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Congratulations, my guys, on making it this far.

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We are right at the end now.

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We will be defining the problem of good to go given all the information we have.

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This includes the robot pool location and orientation and the shortest path to the goal.

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Now, because the park was computed using the grid based search algorithm, we have the mini goal as

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configuration, which tells us about the goal location and the goal orientation, which the robot will

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need to achieve one by one using this method.

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The ultimate task of math solving will come down to it creatively reaching all these mini goals.

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Now let's look at an algorithm that serves the exact purpose.

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Here we start over writing an infinite loop.

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Then we compute the error between the robot orientation and the desired orientation.

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Now, because we have a differential drive board, it cannot make larger turns.

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So if the error is large, we bring it down to moveable limits.

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So if the egg was below the threshold, we move the car forward.

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Starting is speed proportional to its distance to the goal.

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So if the car is four, it moves fast and then slows down as it approaches the goal.

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And then finally, the car, which is a last minute goal, you stop the car.

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Otherwise, we activate the next minute goal.