Autonomous Maze Solver

Mobile robot solving wall maze & Line Maze along with relying QR info to Base

Project Information

Keywords: Sensor Fusion, Machine Vision, Machine Learning, Multi-processor Robot
Team:
Ranish Devkota, Gokarna Baskota, Sushan Kattel, Dipesh Rijal, Sudes Mate

Facility used: Robotics club

Project Overview

This Project was developed as Yantra's Automatic Akhada theme in 2019-20. The Two stroyed robot was designed with problems to solve of Multicolored-line Maze solving which shall have a QR on the correct path. This is to be captured and decoded by real time on board MCU & Rely to base. The maze shall lead to the wall Maze. Wall maze features direction symbols which to be followed leads to centre containing flame symbol.

Methodology

The Robot functioning shall be categorized on 2 major part

Line Maze Solver

This is first and primary stage. In this stage, LSA-08 Line sensor was used. The maze had 3 entry point which are randomized during the start of game by organizer. Robot then shall proceed with the left hand algorithm which will lead to the wall Maze.

PID was implemented for smooth and proper functioning of robot during following tasks leading to omit overshoot and seemlessly transistion during change in color of line and addition of multiple sensor which shall on /off during transistion such as in between wall maze & line maze transistion to ultrasonic sensor from LSA.

Wall Maze and Direction Following

For Solving Wall Maze, The vertical slicing of image followed by pixel count is done determining the direction to be followed by Raspberry-pi. ultrasonic sensor determine safe distance as well speed to move via PID.