Maze simulation

This page lists the actions performed by PICO during the simulation with the same code as implemented during the maze challenge. For this simulation the same maze layout is used as was used during the challenge. Each of the actions of PICO are listed with the corresponding time stamp from the video. First, the simulation with exact the same code as is used during the maze challenge is described, after which an improved version of this code is listed.

Note: Text that is both Bold and Italic indicates different behavior as expected.

Simulation

Time stamp [s]	Action
0:01	Drive in 'North' direction
0:02	Start following right wall
0:05	Door detected, request opening
0:11	Fake door detected, request opening
0:18	Fake door detected, request opening
0:26	Turn right, continue right wall following
0:33	Door detected, request opening
0:35	Door opened, reset initial direction to driving direction
0:36	Drive in 'North' direction
0:40	Start following right wall
0:43	Enter opened door again, drive back into the maze
0:44	Continue following right wall
1:21	Drive 'North' direction
1:23	Start following right wall
1:25	Turn left, continue right wall following
1:38	Drive in 'North' direction
1:41	Enter opened door again, drive towards exit of the maze
1:44	Start following right wall
2:10	Exit maze