Description: Columns P1, P2 position can be arbitrarily placed, the direction of the robot R to walk along the black line. 6 and 9, using sonar to measure the distance (the measurement point of view the two sonar relatively large, a good number can meet the design requirements), 6 sonar distance measuring robot and P1 d1, 9 号 testing machine Man and P2 distance d2. When the robot to walk somewhere, two sonar distances were measured to the difference d1-d2 is less than 20mm, and d1, d2 is less than 600mm, then determine the robot to walk at this time to the middle of P1 and P2 the robot turn 90 °, along the center line of the two pillars to continue to move forward.
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