The Sonar class has a single public method that takes the wiringPi pin number as an argument. If you installed wiringPi (which will automatically be installed when you install the raspi-sonar package) ...

In this paper, we address a new local path planner using a navigable Voronoi diagram(NVD) which comes from the Voronoi diagram(VD). The characteristics of the NVD are safety, smoothness, fast reaction ...