主要利用五个声纳15，0，1，2，3号声纳，我们设定它沿一边墙走。设声纳探测到的距离为d，d0、d15主要是负责机器人走直线，其他的就负责机器人遇到的特殊情况，比如说进入一个拐角会怎么样，这就需要我们设一定的预值，以防撞墙。

我们绘出的是机器人在全局坐标系下墙的位置如下，这中间涉及到一个机器人坐标系与全局坐标系的转化问题

-Mainly use the number five sonar sonar 15,0,1,2,3, we set it to go along the side of the wall. Sonar designed to detect the distance d, d0, d15 is mainly responsible for the robot to go straight, the other robots on the charge of the special circumstances faced by, for example, what happens into a corner, which we need to set some pre- value, to prevent against the wall. We draw the robot in the global coordinate system are located at the wall, this intermediate involves a robot coordinate system and global coordinate system conversion issues