Design and implementation of a robot for maze-solving with turning indicators using PID controller

摘要

Autonomous navigation is an important feature that allows a mobile robot to independently move from a point to another without an intervention from a human operator. Autonomous navigation within an unknown area requires the robot to explore, localize and map its surroundings. By solving a maze, the pertaining algorithms and behaviour of the robot can be studied and improved upon. This paper describes an implementation of a maze-solving robot designed to solve a maze with turning indicators. The black turning indicators tell the robot which way to turn at the intersections to reach at the centre of the maze. Detection of intersection line and turning indicators in the maze was done by using LDR sensors. Algorithm for straight-line correction was based on PI(D) controller.