AIBO Tree Traversal

Code for Following Lines

The code for walking by following lines:

TreeWalkFollow make use of the invariant that the AIBO only see one line at any one time. If it is on the orange line and walking forward, (Vertical) it see a pink blob, it means that the AIBO have reached an intersection. On the other hand, if the AIBO is on the pink line, if it is on the state of going left and it see an orange blob, it means that the AIBO have to move forward. If it is on the state of going right, and it sees a pink blob, it will check if the pink blob extend upwards. If it does not extend upwards, it will continue moving right, if it extend upwards, it will start move forward. Last but not least, if it is on the orange line and backing off, it sees a pink blob, it means it has hit the end and it will start moving towards the right.

Please note: Once the AIBO get off the line, there is no way for it to return back to the line.