diff --git a/car_fmw/src/Control.kt b/car_fmw/src/Control.kt
index dd57ec69ced..914d846646a 100644
--- a/car_fmw/src/Control.kt
+++ b/car_fmw/src/Control.kt
@@ -1,11 +1,4 @@
 
-enum class RouteType(val id: Int) {
-    FORWARD(0),
-    BACKWARD(1),
-    LEFT(2),
-    RIGHT(3);
-}
-
 object Control {
     val BLINK_DURATION = 1000
 
@@ -51,15 +44,10 @@ object Control {
             val time = times[i]
             val direction = directions[i]
 
-            when (direction) {
-                RouteType.FORWARD.id -> Engine.forward()
-                RouteType.BACKWARD.id -> Engine.backward()
-                RouteType.LEFT.id -> Engine.left()
-                RouteType.RIGHT.id -> Engine.right()
-            }
-
+            Engine.drive(direction)
             Time.wait(time)
             Engine.stop()
+
             i++
         }
 
diff --git a/car_fmw/src/Voyager.kt b/car_fmw/src/Voyager.kt
new file mode 100644
index 00000000000..cce3222a2b6
--- /dev/null
+++ b/car_fmw/src/Voyager.kt
@@ -0,0 +1,30 @@
+
+object Voyager {
+    val VELOCITY_DRIVE: Double = 0.03 // centimeter in millisecond
+    val VEL0CITY_ROUTATE: Double = 0.001 // degree in millisecond
+    val SEGMENT_SIZE: Int = 30 // centimeter
+
+    fun run() {
+        while (true) {
+            var distance = Sonar.getDistance(0)
+            while (distance == -1 || distance > SEGMENT_SIZE) {
+                drive(RouteType.FORWARD, SEGMENT_SIZE)
+                distance = Sonar.getDistance(0)
+            }
+
+            rotate(Random.getInt())
+        }
+    }
+
+    private fun rotate(degree: Int) {
+        val time = (degree / VELOCITY_DRIVE).toInt()
+        Engine.left()
+        Time.wait(time)
+    }
+
+    private fun drive(direction: RouteType, distance: Int) {
+        val time = (distance / VELOCITY_DRIVE).toInt()
+        Engine.drive(direction.id)
+        Time.wait(time)
+    }
+}
\ No newline at end of file
diff --git a/car_fmw/src/include/Engine.kt b/car_fmw/src/include/Engine.kt
index 18d7074b59e..4f5971fe860 100644
--- a/car_fmw/src/include/Engine.kt
+++ b/car_fmw/src/include/Engine.kt
@@ -6,6 +6,13 @@ external fun car_engine_backward()
 external fun car_engine_turn_left()
 external fun car_engine_turn_right()
 
+enum class RouteType(val id: Int) {
+    FORWARD(0),
+    BACKWARD(1),
+    LEFT(2),
+    RIGHT(3);
+}
+
 object Engine {
     fun init() {
         car_engine_init()
@@ -30,4 +37,13 @@ object Engine {
     fun right() {
         car_engine_turn_right()
     }
+
+    fun drive(direction: Int) {
+        when (direction) {
+            RouteType.FORWARD.id -> forward()
+            RouteType.BACKWARD.id -> backward()
+            RouteType.LEFT.id -> left()
+            RouteType.RIGHT.id -> right()
+        }
+    }
 }
\ No newline at end of file
diff --git a/car_fmw/src/include/Random.kt b/car_fmw/src/include/Random.kt
new file mode 100644
index 00000000000..9756c56f8ad
--- /dev/null
+++ b/car_fmw/src/include/Random.kt
@@ -0,0 +1,6 @@
+
+external fun car_random_int(): Int
+
+object Random {
+    fun getInt(): Int = car_random_int()
+}
diff --git a/car_fmw/src/main.kt b/car_fmw/src/main.kt
index b7d22f07f44..ec66dda6298 100644
--- a/car_fmw/src/main.kt
+++ b/car_fmw/src/main.kt
@@ -11,4 +11,7 @@ fun main() {
 
     /* car task */
     Control.run()
+
+    /* Voyager */
+    Voyager.run()
 }
diff --git a/car_hw/src/car_random.c b/car_hw/src/car_random.c
new file mode 100644
index 00000000000..3a6c5990ce2
--- /dev/null
+++ b/car_hw/src/car_random.c
@@ -0,0 +1,15 @@
+
+#include <stdint.h>
+
+
+uint32_t prev_number = 0;
+
+#define MULTIPLIER 1664525
+#define INCREMENT 1013904223
+#define MODULE UINT32_MAX
+
+uint32_t car_random_get_int(void)
+{
+    prev_number = (prev_number * MULTIPLIER + INCREMENT) % MODULE;
+    return prev_number;
+}
diff --git a/car_hw/src/car_sonar.c b/car_hw/src/car_sonar.c
index 6e5098d94ee..88ffb9ddbc6 100644
--- a/car_hw/src/car_sonar.c
+++ b/car_hw/src/car_sonar.c
@@ -13,9 +13,11 @@
 
 static uint8_t sonar_degree(uint8_t degree)
 {
-   if (degree > MAX_DEGREE)
+    if (degree > MAX_DEGREE)
         degree = MAX_DEGREE;
 
+    degree = MAX_DEGREE - degree;
+
     float factor = 1.0 * (BACK_ANGLE - FRONT_ANGLE) / MAX_DEGREE;
     return factor * degree + FRONT_ANGLE;
 }
diff --git a/car_hw/src/include/car_random.h b/car_hw/src/include/car_random.h
new file mode 100644
index 00000000000..d1c42195048
--- /dev/null
+++ b/car_hw/src/include/car_random.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include <stdint.h>
+
+uint32_t car_random_get_int(void);