*6.4.3 Track design*

Overall, the track design was a good choice. The black background stops the edges of the paper from being seen as different to the colour of the dark floor, meaning only the edges of the track (white lines) are seen as fully qualified edges by the edge detector. The only issue with the track is that the corners can be viewed by some as "too tight" and thus the vehicle sometimes struggles to stay completely between the lines while turning through them. However, this is not a major issue as overall the vehicle remains between the lines for the majority of the driving cases, and if it does go out of the lines, it will self-correct.
