public void avoidObs(){
		int counter=0;
		boolean b= false;
		while (!b) {
			counter++;
            getRangers ();
			if(counter%150==0){
				turnTo();
				getRangers();
				if(front>1.5){
					goTo();
					b=true;
				}
					
			}
            Sp   = 0.2;
            ySp = 0;
          
            if (front < 0.4) {
                Sp   = -0.10f;
                ySp = - 0.6;
            } else
                if (left < 0.3) {
                    Sp   = 0.1;
                    ySp = - 0.15 ;
                }
                else
                    if (left > 0.5 && left<3) {
                        Sp   = 0.1;
                        ySp = 0.15;
                    }
            pos2D.setSpeed (Sp, ySp);           
            try { Thread.sleep (100); } catch (Exception e) { }
        }		
	}