In order to keep mouse stay in proper position all the time when in the maze, some calibration other than PID are need to reduce the chance to crash.
It will a good chance to re-adjust the position of your mouse when entering the dead end(the mouse need to turn back). Both front and side walls are equally helpful to correct the position. The video I made showed almost all the cases to utilize the front wall and side walls to align the mouse before exiting the dead end cell.
At the meantime, I am preparing for the coming California Micromouse Competition at UCSD this Sunday. I’ve done taken the video for Calibration Strategy part 2, and I will release it when I have time.