maze exploring by pioneer 3dx

Maze Exploring by Pioneer 3DX

Team 4

Baseline

1. Maze exploring ->DFS

2. Shortest path backtracking

We have already accomplish the baseline

For the Maze exploring part

Explore the environment and build the topological map at the first round.

Build the node whenever robot make turns or encounter forks road.

Each node contains 4 directions and a source direction.

Node structure

struct node { int number; bool check; bool northCheck; bool southCheck; bool westCheck; bool eastCheck; int src_direction; bool northdead; bool southdead; bool westdead; bool eastdead; ArPose position; struct node *northPtr; struct node *southPtr; struct node *westPtr; struct node *eastPtr; }; typedef struct node Node;

For the shortest path backtracking part

In second round, execute shortest path

backtracking on the map we had built. Pioneer will directly walk to the exit.

Difficulty we faced

The accumulated angle error

The robot may not be parallel with the wall, and may make wrong decisions.

Sol: We have to add some feed back control

Difficulty we faced

Sonar Sensor doesn’t work all the time.

Sometimes, the distance it detects is much larger because of reflection.

We may have to add another sensor to aid the sonar.

Probably solution

Camera - Edge Based Technique

More to do

Obstacle avoidance. Walk straight, and make accurate

turns.