private void travelDistance(double distance) {
		robot.setForwardSpeed();
		while (robot.getDisplacement() < distance) {
			if (usPoller.getFilteredData() < OBSTACLE_DISTANCE) {
				avoidObstacle();
			}
			if (leftLP.getSecondOrderDerivative() > GRID_LINE_THRESHOLD || rightLP.getSecondOrderDerivative() < GRID_LINE_THRESHOLD) {
				correctOdometer();
			}
		}
		robot.stop();
	}