A micromouse scanning and planning algorithm based on modified floodfill methodology with optimization

Zawadniak, Pedro Victor Fontoura; Piardi, Luis; Brito, Thadeu; Lima, José; Costa, Pedro; Monteiro, André Luiz Régis; Costa, Paulo Gomes da; Pereira, Ana I.

http://hdl.handle.net/10198/27746

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Authors

Zawadniak, Pedro Victor Fontoura

Monteiro, André Luiz Régis

Costa, Paulo Gomes da

Pereira, Ana I.

Abstract(s)

Micromouse is one of the most popular competitions among mobile robotics researchers. This competition brings together several challenges in the field of mobile robotics. It represents an excellent tool in competition field since it stimulates the development and multidisciplinary knowledge as well as group cooperation to carry out the best approach. This work presents a contribution to this issue on exploring the unknown environment and the robot location to obtain an optimized trajectory in the maze, using the modified Floodfill algorithm that considers the cost for the robot rotations around its axis. A comparison is conducted between the modified algorithm and the traditional Floodfill procedure.

Keywords

Robotics competition Micromouse Mobile robot Floodfill

URI

http://hdl.handle.net/10198/27746

Citation

Fontoura Zawadniak, Pedro Victor; Piardi, Luis; Brito, Thadeu; Lima, José; Costa, Pedro; Monteiro, André; Costa, Paulo; Pereira, Ana I. (2020). A micromouse scanning and planning algorithm based on modified floodfill methodology with optimization. In 2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC. Ponta Delgada