Download - Maze Exploring by Pioneer 3DX
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Maze Exploring by Pioneer 3DX
Team 4
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Baseline
1. Maze exploring ->DFS
2. Shortest path backtracking
We have already accomplish the baseline
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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.
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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;
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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.
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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
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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.
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Probably solution
Camera - Edge Based Technique
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More to do
Obstacle avoidance. Walk straight, and make accurate
turns.