## 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

## Documentation

> 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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