Course "Wheeled Robot Navigation - Maze Escape", which builds upon the work done in "Obstacle Avoidance with Wheeled Robots",will let students explore how to use the ultrasonic sensors attached on the wheeled robot to navigate in unknown environments without crashing into walls or other obstacles, and how to better use the motion control of the robot in more confined spaces. This course will also let students practice on how to build better and bug-free programs with ROS and Python. At first, students will be introduced to the world of ROS and its structure, while also learning some other fundamental programming concepts and types of errors that can occur within programs. Then, they will study how to use ROS, create new projects in it and build their programs in our programming environment. Afterwards, students will practice detecting different program bugs and fixing them, in order to develop better and more robust code. Finally, they will put their new programming skills to the test and modify their wheeled robots slighty, so that it can navigate the maze track and find the exit out of the maze.