## int MAP_Locate (VWHandle vw_, PSDHandle x_, IRHandle ir_, char *map_)

> Locates the nearest unexplored obstacle to the robot

## Documentation

> Locates the nearest unexplored obstacle to the robot. And proceeds to that obstacle. The maximum range of operation is the limits to the PSD set by PSD_MAX.

Parameters:
  vw_ - The VW Handle
  x_ - The PSD Handle for the front PSD sensor
  ir_ - The forward infra-red sensor
  map_ - The address of the occupation grid system
Author:
  Nicholas Tay, CIIPS 1998

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