Previously we tested our measles on the first symptoms and it passed the test with flying colours.
Can the missile will do the same if we provided a slightly tougher opponent, a complex maze with sharp
tones and irregular walls, will it be able to solve it?
Let's find out.
To test our missile robot on the more complex maze.
Two, we already have the maze to burn inside the world.
Follow it.
And here we have the means to work.
So all we need to do to test it out.
Our order at home will.
Build the project and then launch the space to simulation, and that is north by simply accessing the
maze to robot camera dot launched by instead of the maze one robot camera spotlight or by this starts
up the maze two or the more complex maze two simulation.
And once it starts up, you will notice that this particular maze is a lot more complex than the maze
one.
It has sharp buttons and irregular bolts, so a lot more tougher problem for our solver board to solve.
So let's head on over to the second terminal and run the maze solver.
So what we get as the first output is basically the output of the localizing stage where we have the
occupancy grid computed for our maze.
Two And as you can see, this seems to be the correct occupancy grid showing us the areas the car can
go.
In this particular case, pressing the spacebar.
We get the falling out.
That is the life may solving done by our missile robot.
So as you can see, the car has moved from point A to point B, where it has computed is correct or
complete robot.
And then it goes back and tries to lose the first mini.
Go for our short a spot to go.
So let's observe the right frame of reference where we have drawn the shortest path to go and also the
current mini goal and the mini goal that we have already completed.
So you can see the orange, mini orange basically circles shows the mini goal that we are trying to
achieve.
And the green mini goal is basically what we have already done.
So, so far, so good.
Our missile abort is able to solve this particular maze correctly and is trying to achieve or reach
this particular meaning goal, which is very far from it.
So it moves very fast and then it approaches its first major obstacle.
Our missile abort is approaching a very narrow corridor.
So this is the corridor where our missile robot might get stuck because of its limited algorithm.
So it is approaching the mini goal one after another, and then it tries to reach the corridor and then.
We get the many go that is somewhere on the wall.
So what is a molecule on the wall?
Because the part should never be on the wall.
The problem is that with the image that we are getting is prospectively distorted because there is a
problem that can occur with cameras and the images.
So with this problem, we are getting that part computed somewhere on the wall and which is the area
which our missile robot cannot reach.
So for such a case, the car would try to reach over that wall, which it cannot, and get stuck in
that particular position.
So if you observe the car in the simulation, you will see that it is stuck behind the wall and trying
to move towards the wall.
The reason is that the computer you go is somewhere on the wall and it is incorrectly computed and that
is why the car is stuck right at this moment.
So we need to tell our to go that it is if it is stuck behind the wall and the mini goal is somewhere
on the obstacle, try to reach the next minute goal that is not on the wall.
And the same way, if the car gets stuck on some other wall that is irregular or is a relationship that
it needs to try the next appropriate goal.
So we need to create some sort of obstacle navigation so that the car can reach the exit.
In this more complex means too.
Let's try and do that.