Lesson10.markdown

@@ -137,12 +137,13 @@ Angle noise factor = 2.5
 We have chosen to answer this exercise based on the exercise *Make the robot stay within the robot 	arena* from lesson 11.
 The following image shows the setup used, with a sonar sensor, two light sensors, and a bumper and touch sensor mounted on the front of the vehicle.
 
-![Validation of LEGO car parameters - Right turns](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG)
+![Setup for tracking whilst avoiding obstacles](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG)
 
-This exercise used two behaviors, **Wander** and **Avoid edge**. 
-The Wander behavior was changed to drive in a straight line to obtain a simple fixed route.
-The Avoid edge behavior is also used to avoid  
+We used the bumper and touch sensor to detect obstacles as this was easier to test.
+Odometry was used to track the movements performed in the two behaviors *Wander* and *Avoid edge*.
 
+Wander was modified to drive in a straight line to obtain a simple fixed route.
+The Avoid egde behavoir, which backs the car up and turns 90 degrees to the left, was re-used as an avoid obstacle behavior.
 
 
 In order to avoid objects whilst following