Hi

I am trying to find an algorithm so that my bot finds its way to the centre avoiding the obstacles in way.....

sample track is http://tinypic.com/r/w7ivwi/4

the bot gets travel only once. so recording paths in trial runs wont work

it needs to travel from start to end in 1 go and fast not hitting any obstacles...

my current algorithm is right hand rule at the intersection but they seem a little too exhaustive way to go to centre...

is there some algorithm which can provide me with a faster time?

Thanx in advance