How does Sir Launcelot escape from Castle Charyot?

Sir Launcelot escapes from Castle Charyot by cleverly outmaneuvering the guards and using his exceptional skills as a knight. He takes advantage of a moment of distraction, allowing him to slip past the sentinels. Additionally, he employs his knowledge of the castle's layout to find a hidden exit, ultimately fleeing without being captured. His bravery and ingenuity enable him to evade the dangers of captivity.