Algorithm 2. Avoid Past Pseudocode.

AvoidingPastAngle = 0;

Evaluate the neighbor waypoints according to current heading angle;

if Neighbor Waypoint at the Center is Free and Unvisited then

AvoidingPastAngle = 0;

else

if Neighbor Waypoint at the Left is Free and Unvisited then

AvoidingPastAngle = 45;

else

if Neighbor Waypoint at the Right is Free and Unvisited then

AvoidingPastAngle = −45;

else

AvoidingPastAngle = an angle between −115 and 115 according to visit counts proportions of the left, center and right neighbor waypoints;

end

end

end

return AvoidingPastAngle;