1）小车由通道进入圆形区后直走以检测边界线，检测到边界时，小车左转一个小角度以避开边界。按这种方法检测下去，直到小车检测到中间引导线为止。-1) car into the circular area from the channel to detect the boundary line straight after the detected boundary, the car left a small angle to avoid the border. Detected by this method continue until the car is detected until the middle of the boot line.