Start

System Initialization- Setup motors- Calibrate sensors- Reset position variables

Move Forward until a junction is detected

No → Dead End- Rotate 180°- Backtrack

Check for Goal Condition- Is finish detected? (special marker, end point, etc.)

Yes → Stop Motors → End

No → Loop back to "Move Forward until junction"

Yes → Turn Right- Stop- Rotate right- Move forward into new path

Is Right Path Available?

Yes → Continue Moving Forward

Is Forward Path Available?

Yes → Turn Left- Stop- Rotate left- Move forward into new path

Is Left Path Available?

FF