[Pierre-Marie Baty]

I have basically the same feature in RACC (see my screenshots thread), it works very good. You can't trace all the way round the bot though, as it is quite consuming. The best ratio against efficiency and precision is one trace per side of the bounding box (N, S, W, E).

I don't use 45° traces but vertical traces though, because bent traces would be more likely to hit a low wall or any obstacle, thus giving weird results if the bot doesn't interpret the obstacle correctly.