Maze Exploration Algorithm for Small Mobile Platforms

• Autorzy: Bienias Ł. , Szczepański K. , Duch P.

Identyfikatory

DOI

10.1515/ipc-2016-0013

• Języki publikacji: EN

Abstrakty

EN

An algorithm that enables efficient maze exploration is presented in the paper. The algorithm involves two phases: first the whole maze is explored in an ordered way and then, the shortest possible way out is determined. The algorithm has been derived in a way that combines main advantages of the two known labirynth-exploration algorithms: “Wall follower” and “Trémaux’s algorithm”. The algorithm has been tested using an autonomous vehicle, controlled by Arduino UNO, with two DC engines, ultrasonic sensors and gyroscope. It has been shown that the proposed approach provides a few crucial advantages with respect to already known solutions.

Słowa kluczowe

EN

maze exploration; small mobile platforms; arduino

• Wydawca: Instytut Telekomunikacji i Informatyki Uniwersytetu Technologiczno-Przyrodniczego w Bydgoszczy
• Czasopismo: Image Processing & Communications
• Rocznik: 2016
• Tom: Vol. 21, no. 3
• Strony: 15--26
• Opis fizyczny: Bibliogr. 9 poz., rys., tab.

Twórcy

autor

Bienias Ł.

• Institute of Applied Computer Science

autor

Szczepański K.

• Institute of Applied Computer Science

autor

Duch P.

• Institute of Applied Computer Science

Bibliografia

• [1] Anagnostou, L. (2009). Maze Solving Algorithms: Tremaux’s Algorithm Visual Example, https://www.youtube.com/watch?v=6OzpKm4te-E
• [2] Bares, J.E., Wettergreen, D.S. (1999). Dante II: Technical description, results, and lessons learned. The International Journal of Robotics Research, 18(7), 621-649
• [3] Durrant-Whyte, H., Majumder, S., Thrun, S., De Battista, M., Scheding, S. (2003). A bayesian algorithm for simultaneous localisation and map building. In Robotics Research (pp. 49-60). Springer Berlin Heidelberg
• [4] InvenSense Inc. (2012). MPU-6000 and MPU-6050 Product Specification Revision 3.3. Sunnyvale, 6–7
• [5] ITead Studio. (2010). Ultrasonic ranging module HC-SR04. Micropik, pp 1–3
• [6] Klein, R., Kamphans, T. (2011). Pledge’s Algorithm-How to Escape from a Dark Maze. In Algorithms Unplugged (pp. 69-75). Springer Berlin HeidelbergGoogle
• [7] Mishra, S., Bande, P. (2008, November). Maze solving algorithms for micro mouse. In Signal Image Technology and Internet Based Systems, 2008. SITIS’08. IEEE International Conference on (pp. 86-93). IEEE
• [8] Snapp, R.R. (2010). Threading Mazes, [online access 07.05.2016], http://www.cems.uvm.edu/~snapp/teaching/cs32/lectures/tremaux.pdf
• [9] Thrun, S., Thayer, S., Whittaker, W., Baker, C., Burgard, W., Ferguson, D., Reverte, C. (2004). Autonomous exploration and mapping of abandoned mines. IEEE Robotics & Automation Magazine, 11(4), 79-91

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).