@Override
	public void performStep() {
		if(checkIfTargetNearby())
			return;

		turnRight();
		if (!goForward()) { // can go right?
			turnLeft();
			if (!goForward()) { // can go straight?
				turnLeft();
				if (!goForward()) { // what about left?
					turnLeft();
					goForward(); // OK, dead end
				}
			}
		}

	}