[stefanhendriks]

one of the realbot versions in the ancient times had something like that. It basicly even used 'beacons' to 'help' the bot to move from beacon to beacon to eventually get to the goal...

it was something like this:

- determine angle to goal
- face it
- check if that angle is not blocked by x radius
- if so, do a scan of 180 degrees and go for the 'most far reached' traceline.

So basicly, the bot would go for the most 'farest' traceline, as that is the most 'safe' way. (walls-wise). The theory was, when you enter a corner with 1 or 2 ways T one or L one, you could basicly have the bot turn around because of the 'farest traceline' technique. This only worked half...

why? Because due you want the bot to go somewhere (goal...) you sometimes forced a bot into a dead end, and the bot would do neatly a turn (to prevent collission with walls) and then after a few seconds get back. This is the same as you get with any path finding algorithm. Mostly noticable with First Depth Search.