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.

Simulation

Time stamp [s]	Action
0:01	Drive in 'North' direction
0:02	Start following right wall
0:04	Fake door detected, request opening
0:07	Continue following right wall
0:10	Fake door detected, request opening
0:13	Continue following right wall
0:19	Detect side door open, move sidewards
0:21	Drive in 'North' direction
0:26	Start following right wall
0:29	Detect side door open, move sidewards
0:32	Door detected, request opening, door opened
0:33	Ignore opened door, continue right wall following
0:42	Detect side door open, move sidewards into internal square
0:45	Continue right wall following
1:00	Front door detected, request opening
1:02	Door opened, reset initial direction to driving direction
1:03	Drive in 'North' direction
1:06	Start following right wall
1:37	Enter door that was opened first
1:38	Continue following right wall
1:56	Exit maze
1:57	Continue following right wall, outside maze
2:04	Simulation stopped

Simulation with improvements

Time stamp [s]	Action
0:01	Drive in 'North' direction
0:02	Start following right wall
0:04	Fake door detected, request opening
0:06	Continue following right wall
0:10	Fake door detected, request opening
0:12	Continue following right wall
0:16	Fake door detected, request opening
0:19	Continue right wall following
0:32	Door detected, request opening
0:34	Door opened, reset initial direction to driving direction
0:35	Continue following right wall
0:43	Enter opened door again, drive back into the maze
0:44	Continue following right wall
1:06	Exit maze