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

If you met an obstacle, you can go around to determine its precise dimensions, and after measuring it return to the previous course. With no obstacles in the range of sight you can try to just head in the direction of the nearest unchecked area.

It maybe doesn't seem the fastest way but, I think, it is the good point to start.