I thought about traceline nav a while ago but it sounded too complicated, about 20 minutes ago I had an idea to make it much easier ( atleast sound easier :/ ).
The bot fires out 24 tracelines from the head, chest, knees and feet and will choose what distance to travel in based on which trace had the longest distance.
This could be a problem especially when places can be dead ends so the bot would drop waypoints along the way so that the route wouldn't have to be traced all over again.
Should the path turn out to be a dead end the bot will use the waypoints it dropped to travel back down the path marking ones it passes as "dead" so it won't go there anymore.
Fast forward, the bot has already found the hive ( NS ) but was killed by a skulk and is now back where he started.
Now all the bot has to do is follow the waypoints it dropped earlier to get to the hive rather than doing the expensive tracing which was needed before the waypoints existed.
Any huge flaws, ect in this idea?
I haven't slept so there should be a few.
Link to idea image:
http://img228.echo.cx/img228/316/tracenavidea4mi.gif