//Translate doors
//Check if horizontal or vertical lineHeight = | x(shortestPath[length of shortestPath - 1]) –
x(shortestPath[length of shortestPath - 2]) | lineWidth = | y(shortestPath[length of shortestPath - 1]) –
y(shortestPath[length of shortestPath - 2]) | if lineHeight>=lineWidth then for each door between shortestPath[length of shortestPath - 1] 
in rightDoors and targetRightDoors and leftDoors and targetLeftDoors and shortestPath[length of shortestPath - 2] if y(shortestPath[length of shortestPath - 1]) < y(shortestPath[length of shortestPath - 2]) then if door is bottom door then corrLeftDoor ++ if targetDoor = door then store in knowledge Base that target door is left door number targetDoor end if end if if door is top door then corrRightDoor ++
if targetDoor = door then store in knowledge Base that target door is right door number targetDoor end if end if end if end for end if if lineHeight>=lineWidth then for each door between shortestPath[length of shortestPath - 1] in topDoors and targetTopDoors and bottomDoors and targetBottomDoors and shortestPath[length of shortestPath - 2]
 if y(shortestPath[length of shortestPath - 1]) < y(shortestPath[length of shortestPath - 2]) then if door is right door then corrLeftDoor ++ if targetDoor = door then store in knowledge Base that target door is left door number targetDoor end if end if if door is left door then

![0_image_0.png](0_image_0.png)

Algorithm 10: Translating Doors Algorithm Pseudo code IV. CONCLUSION
For the reason of the intelligent robot knows the directions of the optimal shortest path needed to reach its target in a new building work faster than intelligent robot that don't have any sort of external guidance where it needs to scan room by room and corridor by corridor to reach his target. From this point the need of such abilities have the high priority for mobile intelligent robot. Convert it to the knowledge base as a cognitive map inside the knowledge based system of the intelligent robot. In this research medial axis has been enhanced in order to be used for finding the optimal shortest path.

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