aMAZEing robot : A method for automatic maze solving

Sammanfattning: The purpose of this report was to examine a method for automatic maze solving by developing a robot that can find a specific target within a maze. On this basis, a Arduino based robot was constructed. The steering mechanism was constructed in a way that supports differential steering which enables zero radius turns which is preferred in narrow spaces. The intersection detection as well as the method for defining which type of intersection occurring was based on three distance sensor mounted in front and on the left and right side of the robot. The target detection was based on a IR sensor. A feedback controller was applied on the left Ultrasonic sensor enabling the robot to keep a reference distance to the wall. The feedback system also enabled the robot to straighten up when taking to big or small turns. The robot was able to both detect and define what kind of intersection occurring as well as detect the specific target. The execution of the correct operation by detected intersection was calculated to 80% - 100% and the target was found 100% out of the test made. The definition of ”correct operation” in this report was when the robot detected a intersection, and executed the operation that was in accordance with the implemented algorithm. The rotational error, that is the quantity of degrees from the desired turn angle, occurring when the robot executed different operations was calculated to 3.5◦ - 9.5◦ . The robot started to oscillate due to angles grater than 19.5◦ when the left distance sensor was facing the wall which made the robot less able to follow a path and straighten up.