28-08-2017, 01:51 PM
The proposed labyrinth mapping system is based on the coordinate system and after mapping the entire labyrinth as a graph in the standard method of "adjacency list representation", the shortest path and the shortest time path was extracted Using the Dijkstra algorithm. To find the coordinates of the turning points and the joints, linear distances between the points are needed, for which the wheel encoder was used. However, due to the non-linear movement of the robot, the directly measured distance of the encoder has some error and to eliminate this error an idea is constructed that ended up deriving equations that give us an almost exact linear distance between two points of the Wheel reading of the Robot that moves in a non-linear path.
In mobile robotics, the problem of resolution of labyrinths is one of the most common problems and to solve this problem an autonomous robot is used. The labyrinths can be of different types, such as - without loops, with loops, grid system or without grid system. Numerous methods and algorithms have been developed having their own merits and techniques such as flood fill algorithm, search amplitude first, Prim algorithm, etc. But they all need to know the position of the goal. Therefore, they are not suitable for solving labyrinths where the target is unknown until discovered.
In mobile robotics, the problem of resolution of labyrinths is one of the most common problems and to solve this problem an autonomous robot is used. The labyrinths can be of different types, such as - without loops, with loops, grid system or without grid system. Numerous methods and algorithms have been developed having their own merits and techniques such as flood fill algorithm, search amplitude first, Prim algorithm, etc. But they all need to know the position of the goal. Therefore, they are not suitable for solving labyrinths where the target is unknown until discovered.