Lesson10.markdown

@@ -140,15 +140,17 @@ The following image shows the setup used, with a sonar sensor, two light sensors
 ![Setup for tracking whilst avoiding obstacles](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/Sonar.JPG)
 
 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*.
+Odometry was used to track the movements performed in the two behaviors *Avoid obstacle* and *Travel route*.
 
-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.
+![Behavioral control](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/BehavioralControl.jpg)
 
+Travel route was implemented to drive in a straight line to obtain a simple fixed route.
+The Avoid Obstacle behavoir, which backs the car up 10 cms and turns 90 degrees to the left, is activated by the touch sensor.
 
-In order to avoid objects whilst following 
+We tested the tracking by placing the vehicle approximately 30 cm in front of an obstacle.
+When the car reached the obstacle, it backed up, turned to the left and continued forward.
+As can be seen in the video in [3], the odometry was able to keep track of the car. 
 
-![Behavioral control](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson10/Images/BehavioralControl.jpg)
 
 ## Conclusion
 Notes:
@@ -166,6 +168,8 @@ Use travel and rotate with immediateReturn = true. Then the commands can be over
 
 [2] http://lejos.sourceforge.net/nxt/nxj/tutorial/WheeledVehicles/WheeledVehicles.htm
 
+[3] http://youtu.be/JOdNyQy-lQ4
+
 
 ### Code