robot orientation problem

[artiny]

Hello,
Based on the video I created the path planning robot who follow the patch to reach the point.
https://www.youtube.com/watch?v=OfpB87pRoUk
This working great: https://www.dropbox.com/s/gkqj27n95l29s ... I.ttt?dl=0

I want to recreate same function of the robot (follow the line) - with E-puck robot ...but I have trouble . In the simulation is not follow the line.
If I change to same orientation [select the ePuck after start dummy and apply the orientation...] the ePuck as Start dummy the epuck go through on the line as I want to move,but the robot get bad orientation.
http://i.imgur.com/pf9Nrth.jpg

https://www.dropbox.com/s/928y064duv83e ... g.ttt?dl=0

Not worked If I set all object,joints,... of ePuck as orientation as Start dummy. How could I change the robot orientation to follow the start dummy ?

[coppelia]

hello,

try to simply inverse the left and right wheel for the control.

Cheers

[artiny]

Thank you,now is good :)

but I get problem in the simulation...robot "going grazy" movement when I start the simulation.
https://www.dropbox.com/s/ii6kppa83yna695/a.ttt?dl=0

2.) Wich function is for that, to tell robot wich direction to move to the goal position. //attract the robot to the point .
for example: I want to bubbleRob move point A to B,and between target were avoid obstacles with this algorithm what was on the first tutorial.