Robot starts at left bottom corner and finishes the route at right top corner.


At the beggining of the algorithm, size of section of the maze is measured. Distance from walls is measured by three sensors. While the searching algorithm is being performed, mapping and gathering information is being done.

Gyroscop and distance sensors regulate position of the mechanism in the maze.


First depth search algorithm:

Robot chooses the path based on the known sections of the labirynth. If all the sections are known, robot chooses path randomly.

The time flood algorithm:

When the first algorithm was done, it gave weight to the sections. Robot chooses sections that has the least possible weight. 

When robot finds the right path and the exit, we can navigate the mechanism with Wifi connection.

If during the optimazing algorithms robot hit the wall, program would go to navigating with WiFi module.