AIBO Tree Traversal

The Two Approaches

The best angle from which to approach any problem is the try-angle.
-- Unknown

We are attempting to use two different ways to solve the problem. Each approach has their own weakness and their strength over each other but none of them are able to solve the problem perfectly.

One of the approaches is using fuzzy logic to walk in the general direction of the line which it thinks it should be following. The other is following the line directly. The dog is forced only to look in a small area thus logically it should only be able to see the line it is following and it will follow the line until all branch are reached.

Fuzzy Logic

There is nothing worse than a sharp image of a fuzzy concept. 
--Ansel Adams

This algorithm works in a large maze. The chance of it confusing two lines in a large maze is low as most of the time the lines are far apart.

Advantage:
The dog does not need to know exactly which point it is following. It just has to follow the closest line it can reach. That should be the line it is following.

Disadvantage:
The dog does not know which line it is following, the tree might have lines that are so close to each other that the dog cannot differentiate which line it is closer to. This reason in the dog choosing randomly and following the line it thinks it is closer to it. Furthermore, inaccurate in vision data might cause the dog to follow the wrong line.

Following the Line

Following straight lines shortens distances, and also life. 
--Antonio Porchia

This algorithm works for small mazes as the chance of it deviating from its intended path is small in a small maze.

Advantage:
The dog can walk along a point of axis and does not need to rely on randomness in the vision and the tree.

Disadvantage:
Once lose track of the line, the dog has no way to return to the line. And it is very easy to lose track of the line due to the imprecise walking movement.