## void MAP_Navigation (VWHandle vw_, PSDHandle *psd_x, IRHandle ir_f, IRHandle ir_r, IRHandle ir_l, int target, char *map_)

> Performs a robot navigation routine to reach a destination

## Documentation

> Performs a robot navigation routine to reach a destination. Includes code for obstacle avoidance and boundary following. Adapted from the DistBug architecture.

Parameters:
  vw_ - The VW handle
  psd_x - The PSD Handles for the left, front and right PSDs
  if_f - The front infra-red Handle
  if_r - The right infra-red Handle
  if_l - The left infra-red Handle
  target - The target cell in the grid
  map_ - The grid map used for storage
Author:
  Nicholas Tay, CIIPS 1998
See Also:
  Wall_Follow_Right MAP_Target MAP_Orient MAP_Location

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