mapping - Basic continuous 2D map exploration ( with obstacles ) algorithms -

Here's the problem: There is a map which is anywhere from 200 × 200 pixels to 1000 * 1000 pixels. Each pixel is one third of one inch in length / width.

The map is coming from the walls (which can be of any size), and in some way can be pre-processed. However, when the problem begins, a robot (size 18 * 18 pixels) is placed in an unknown location, which includes several obstacles and one goal, all of which are in an unknown location.

If any wall / object / target robot obstacles die instantly as if it had a simple laser scanner, which first sees the 80 * 80 pixel square, focuses on the robot.

I have already solved the problem of localizing the robot and determining its position. Little mistake) on the grid

I think the robot is going to the lower right, and somebody Even in the way I go to the left side, I am having trouble creating a complete algorithm, avoiding obstacles and walls, until the goal is reached, I am not a good way to do this.

Is there any such thing, or what better am I trying to do this?

Another algorithm coming to my mind is a simple Lee algorithm. It does a great tutorial about what it does and how it works.

Using this algorithm, you should be able to find all the obstacles and eventually you should reach the goal, as well as get the shortest route to the goal. / p>

The only major difference is that you have to move the 80x80 object instead of 1x1 object, but I let you deal with the way it is implemented.