Robot exploration algorithm

Question

I\'m trying to devise an algorithm for a robot trying to find the flag(positioned at unknown location), which is located in a world containing obstacles. Robot\'s mission is to

Answer 1

Well, there are two parts to this. 1) Searching for the Flag 2) Returning Home

For the searching part, I would circle the home point moving outward every time I made a complete loop. This way, you can search every square and idtentify if it is a clear spot, an obstacle, map boundary or the flag. This way, you can create a map of your environment.

Once the Flag is found, you could either go back the same way, or find a more direct route. If it is more direct route, then you would have to use the map which you have created to find a direct route.