The Development of an Autonomous Maze Robot

摘要

This paper presents the design and development of a robot capable to navigate through a simple maze, based on algorithms for maintaining the trajectory, making turns and finding the exit from the maze. Once we have been able to create such a robot, expanding the robot by adding new functionalities leads to its transformation, for example into a room vacuum cleaner, or why not, if the environment is a labyrinth, in a tool capable of determining the shortest route from any two points of the labyrinth. Its dimensions allow exploration of spaces inaccessible to humans. Robots of this kind are based on decision making algorithms, of which we mention the wall tracking algorithm and the flood fill algorithm. The robot presented is based on the wall tracking algorithm running on a microcontroller. This robot is made up of a printed circuit board that also has the role of chassis, two DC gear motors with incremental encoders, six distance sensors and a battery.