In the last with you, we developed the go to Google algorithm, which should, in theory have the car
reach the exit.
It relied on breaking down the large stars into smaller molecules or configurations, which the board
alternatively need to achieve.
So was this enough?
Unfortunately, not quite.
The problem was that the configuration states that we computed and wanted the robot to achieve was considering
that all stages of the robot navigation worked ideally.
But we don't live in a perfect world, do we?
The robot suffered two problems number one, uneven surfaces, and the errors in the localization and
configuration caused the robot to get stuck in obstacles.
And number two, going at high speeds caused the robot to overshoot its goal and enter the wrong lane.
So how do we address these issues?
Primarily, we require some sort of obstacle navigation that is backtracking.
Now, let's look at what we came up with.
So if the robot is actively solving the maze and no change has been recorded in the angle of set and
the distance for a significant amount of time, then the robot is definitely stuck.
It should backtrack and try again if the next minute goal is closed and it is on top of an obstacle.
Then we need to try next minute goal one that is not too close to the last one.
So let's go try it out and see whether our robot is finally able to solve the more complex maze to.
Fingers crossed.
Let's go.