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In the last with you, we developed the go to Google algorithm, which should, in theory have the car

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reach the exit.

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It relied on breaking down the large stars into smaller molecules or configurations, which the board

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alternatively need to achieve.

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So was this enough?

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Unfortunately, not quite.

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The problem was that the configuration states that we computed and wanted the robot to achieve was considering

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that all stages of the robot navigation worked ideally.

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But we don't live in a perfect world, do we?

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The robot suffered two problems number one, uneven surfaces, and the errors in the localization and

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configuration caused the robot to get stuck in obstacles.

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And number two, going at high speeds caused the robot to overshoot its goal and enter the wrong lane.

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So how do we address these issues?

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Primarily, we require some sort of obstacle navigation that is backtracking.

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Now, let's look at what we came up with.

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So if the robot is actively solving the maze and no change has been recorded in the angle of set and

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the distance for a significant amount of time, then the robot is definitely stuck.

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It should backtrack and try again if the next minute goal is closed and it is on top of an obstacle.

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Then we need to try next minute goal one that is not too close to the last one.

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So let's go try it out and see whether our robot is finally able to solve the more complex maze to.

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Fingers crossed.

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Let's go.