•

chitritapant

Published October 13, 2020 © GPL3+

Maze Solving Bot

The autonomous bot racing to decipher a maze. Designed a wireless robot to self-navigate through a maze.

IntermediateFull instructions provided15,337

Things used in this project

Hardware components

Arduino UNO

Ultrasonic Sensor - HC-SR04 (Generic)

Breadboard (generic)

SparkFun Dual H-Bridge motor drivers L298

DC Motor, 12 V

HC-05 Bluetooth Module

Jumper wires (generic)

Battery, 12 V

Software apps and online services

Arduino IDE

MIT App Inventor

Hand tools and fabrication machines

Soldering iron (generic)

Digilent Mastech MS8217 Autorange Digital Multimeter

Story

IDEA:

In today’s scenario, dense network of city streets, disaster prone regions and war prone environments have common navigational difficulties. Specific missions, hazardous surroundings, inhabitable condition serve as a reason for shift to autonomous technology and decision oriented mechanics. It is well known that the idea of decision making algorithms, for application like maze solving leads an entrance to a goal, regardless of the challenge of the maze solving being three centuries old, it still hold a vital importance in robotics. If a robot is positioned in an unfamiliar environment, it should have a good decision making algorithm in order to successfully solve a maze, so to design a robot we are using LSRB algorithm.

WORKING:

Algorithm:

Maze solving robot is one of the most popular autonomous robots.Our maze solving robot make multiple runs in the maze, first it creates a map of maze layout and store it in its memory, then run through a shortest path, this is done through LSRBalgorithm.The robot will take its direction by following either left or right wall, In our robot we are using LSRB algorithm it states that when there is an intersection, turn left if you can, else go straight if you can, else turn right if you can, else turn around because you are at dead end.A program/algorithm must be deployed and able to guide the robot to the end of maze using ANSI C.

In this way this will respond faster and reaches the end in minimum possible time.

Hardware:

In our robot we are using Arduino Uno board, it acts as the brain of our robot because all the decisions which is taken by the robot to solve the maze is governed by this board and three ultrasonic sensors are used to take the input. The robot is capable of scanning the obstacles with the help of ultrasonic sensors; they transmit ultrasonic waves from its sensor head and again receive the waves reflected back from the object. By measuring the delay of time from the transmission to reception of sonic wave, it detects the position of the object or wall. And then move according to the algorithm avoiding all the obstacles and reach the final destination. Also this robot has a special feature of navigating through human control for that we are using Bluetooth module, this feature can be used in extreme cases when there is a requirement of human control decision making.

Applications:

Applications of such autonomous vehicles range from simple tasks like robots employed in industries to carry goods through factories, military purposes, mining, offices, also buildings to detect dangerous or difficult areas like bomb sniffing, finding humans in wreckage etc.

Code

CODE

const int trigPin1 = 6;//front
const int echoPin1 = 7;
const int trigPin2 = 10; //left
const int echoPin2 = 11;
const int trigPin3 = 8;//right
const int echoPin3 = 9;
const int in1 = 2;
const int in2 = 3;
const int in3 = 4;
const int in4 = 5;

#define DIS 7

void setup()
{
pinMode(trigPin1, OUTPUT);
pinMode(echoPin1, INPUT);
pinMode(trigPin2, OUTPUT);
pinMode(echoPin2, INPUT);
pinMode(trigPin3, OUTPUT);
pinMode(echoPin3, INPUT);
pinMode (in1, OUTPUT);
pinMode (in2, OUTPUT);
pinMode (in3, OUTPUT);
pinMode (in4, OUTPUT);

}
void loop()
{
  if (FrontSensor ()>DIS && RightSensor () >DIS && LeftSensor () >DIS)
  {forward();}
 //else if ( FrontSensor () > DIS && RightSensor () < DIS && LeftSensor ()< DIS)
//{
  //forward();  
//}
else if ( FrontSensor() < DIS && RightSensor () <DIS && LeftSensor ()<DIS) // obstacle infront of all 3 sides
{
reverse ();
delay(500);
if((LeftSensor())>(RightSensor()) )
turn_left();
else
turn_right();
//then reverse
}
else if (FrontSensor() <DIS && RightSensor () <DIS && LeftSensor ()>DIS) // obstacle on right and front sides
{
turn_left (); // turn left side
}
else if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()<DIS) // obstacle on left and front sides
{
turn_right (); // turn right side
}
else if (FrontSensor() <DIS && RightSensor () >DIS && LeftSensor ()>DIS) // obstacle on front sides
{
turn_left (); 
delay(500);
forward();// then turn right //********************
}
else if (FrontSensor() >DIS && RightSensor () >DIS && LeftSensor ()<DIS) // obstacle on left sides
{
turn_right(); // then turn right and then forward
delay(500);
forward();
}
else if (FrontSensor() >DIS && RightSensor () <DIS && LeftSensor ()>DIS) // obstacle on right sides
{
turn_left (); // then turn left and then right
delay(500);
forward();
}
else
{
forward();
}
}
void forward ()
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
}
void turn_left ()
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

}
void turn_right ()
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);

}
void reverse ()
{
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

}
void stop()
{
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);

}
long FrontSensor ()
{
long dur;
digitalWrite(trigPin1, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trigPin1, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trigPin1, LOW);
dur = pulseIn(echoPin1, HIGH);
return (dur/58);// convert the distance to centimeters.
}

long RightSensor ()
{
long dur;
digitalWrite(trigPin2, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trigPin2, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trigPin2, LOW);
dur = pulseIn(echoPin2, HIGH);
return (dur/58);// convert the distance to centimeters.
}
long LeftSensor ()
{
long dur;
digitalWrite(trigPin3, LOW);
delayMicroseconds(2); // delays are required for a succesful sensor operation.
digitalWrite(trigPin3, HIGH);
delayMicroseconds(10); //this delay is required as well!
digitalWrite(trigPin3, LOW);
dur = pulseIn(echoPin3, HIGH);
return (dur/58);// convert the distance to centimeters.
}

Credits

dikshadwivedi1819

5 projects • 16 followers

chitritapant

3 projects • 4 followers

Maze Solving Bot