Robot.Simulation.mp4
SLRC is a major Robotics competition organized by the Electronic Club of the University of Moratuwa. This project is for the competition's 1st stage. Which was to navigate a maze given at the competition time, which the competitor has no prior knowledge of, and to pick the boxes located in the 3 corners of the maze and bring them to the centre. Figure 1 shows the sample maze given by the competition organizers.
Figure 1
- Explore the unknown maze and make a fully detailed map with the wall locations, orientations and free cells.
- Calculate the shortest path from any cell to any other reachable cell.
- Navigate automatically from one cell to any other cell according to the calculated shortest path.
- A maze is given in the
Maze.mapfile - The algorithm uses Depth First Search (DFS) to explore any given maze and make a detailed map of it.
- Breadth First Search (BFS) is used to calculate the shortest path from any cell to any other cell.
- Automatically navigate according to the calculated shortest path
- C++ is used as the primary programming language
- Various Data Structures and Algorithms knowledge is used to design the final algorithm
- Micromouse simulator is used as the simulation platform
- Above Video 1 shows a sample run of the simulation.
- The robot first explores the maze and makes a map of it then returns to the starting position.
- The shortest path to the
Cell 6 0is calculated.
( Cells are named according to the (Column Number, Row Number) ) - The Robot navigates to that cell according to the shortest path.
- This is similar to picking up a box at the corner of the maze as given by the competition problem description.
- Then the shortest path is calculated from that cell to the centre cell which is
Cell 2 4. - The robot navigates to the centre cell.
- This is similar to bringing the box to the centre cell as given by the competition problem description.