The team's greatest challenge at this point was to refine the strategy so that the robot could move on the intended course ( straight and perpendicular to the wall if not turning).
A new strategy was made to command the robot to recalibrate itself after moving a certain distance closeer to the wall so that the calibration error could be further minimized. The reasoning behind the reiterative calibration was that as the sonar is closer to the object, the reading becomes more sensitive.
Most of the nevigation traps and sonar blind spots were at the middle of the maze where the room's entrance and the corners would have a devastating effect.
As you may have noticed, the wheels were taped with electric tap to increase traction with the ground.
And finally, the team was able to nevigate through room 3 and 4 using improved strategy.
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