Pololu 3pi Robot - Manual (Page 38)

We next end up with the sequence ‘RBL’, which reduces to a single back ‘B’, and this combines with the next action
to produce the sequence ‘LBL’, which reduces to a single straight ‘S’.
Prune out the final dead-end branch to leave us with the shortest path from start to finish.
Pololu 3pi Robot User's Guide © 2001–2014 Pololu Corporation
8. Example Project #2: Maze Solving Page 38 of 63