Move Tatrabot 2D mapping - Johanna, Romana, Nicole, Oswaldo, Dušan, Viktor

The project's aim was to let the Tatrabot successfully reach a given target position in a grid environment using A* search algorithm. This is realized by creating an internal two-dimensional-map representing the robot's current position in the environment and its knowledge about probable locations of obstacles, gained from taking ultrasonic measurements during movement. To account for inaccurate movements Tatrabot uses its LED-sensors to perceive and follow the grid's lines.