I am trying to do line tracer robot with driving wheels in the front side and sensors at the rear end of robot. I am having one random black and white track. At the end of the track there is crossing of two lines like plus(+) symbol. I want my robot to stop at that + and get allign to it such that center of robot will be at the center of bot.Can anyone please suggest me some algorithm to do this.Please please help me in this.........