7/31/2019 Mapping Algo
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Wall Follower Algorithm
The wall follower algorithm is a simple maze solver algorithm;
witch is fast and uses no extramemory. It is equivalent to a human
solving a maze by putting his hand on the right (or left) wall
and
leaving it there as he walk through. This method won't
necessarily find the shortest solution, and it
doesn't work at all when the goal is in the center of the maze
and there's a closed circuitsurrounding it, the robot would go
around the center and eventually find itself back at the
beginning.
Depth First Search Algorithm
The depth first search algorithm is an intuitive method of
searching a maze. Basically, the robotsimply starts moving and when
it comes to an intersection in the maze, it randomly chooses one of
thepaths. If that path leads to a dead end, the robot backtracks to
the intersection and chooses anotherpath. This forces the robot to
explore every possible path within the maze. Although this
algorithmguarantees a final solution, it wont necessarily find the
shortest one and is more time consu ming.
Flood-Fill algorithm
The flood-fill algorithm is a good way of finding the shortest
path from the start cell to the destinationcell. This algorithm
involves assigning values to each of the cells in the maze where
these valuesrepresent the distance from any cell on the maze to the
destination cell. The destination cell, therefore,is assigned a
value of 0. If the robot is standing in a cell with a value of 1,
it is 1 cell away from thegoal. If it is standing in a cell with a
value of 3, it is 3 cells away from the goal. When it comes time
tomake a move, the robot must examine all adjacent cells which are
not separated by walls and choosethe one with the lowest distance
value. If there are more than one neighbouring cell with the
samevalue the robot will try to choose the one in which it makes
the least amount of turn.
Modified Flood- Fill Algorithm
The modified flood-fill algorithm is similar to the regular
flood-fill algorithm only that is fasterbecause, instead of
flooding the entire maze, by updating only those values which need
to be
updated, the robot can make its next move much quicker. In order
to implement this algorithm onerule must be followed every time the
robot arrives into a new cell: If a cell is not the destination
cell,its value should be one plus the minimum value of its open
neighbours. After the distance values
were updated, the robot must find the neighbouring cell with the
lowest distance value and it canonce again follow the distance
values in descending order.
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No Straight line due to slight difference between the drive
trains; imperfect control system
DC motors need geart train to reduce speed and improve
torque
- Thats a good point. I did not see it in that POV. I will look
into it.- I havent gotten that far into my research yet, I will
most definitely look into it.
