void Wall_Follow_Right (VWHandle vw_, PSDHandle *psd_, IRHandle ir_f_, IRHandle ir_r_, char *map_, Segment *segs_, int *count_)

A boundary-following algorithm that tracks the right side of the robot

Parameters:

vw_ - The VW Handle
psd_ - The addresses of the Right, Front and Left PSD sensors
ir_f_ - The front infra-red Handle
ir_r_ - The right middle infra-red Handle (IR_RM)
map - The address for the occupation grids
segs - The address for the configuration space
count - The counter for the number of line-segments

Author:

Nicholas Tay, CIIPS 1998

See Also:

MAP_Navigation

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