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Performance Comparison Robot Path Finding Uses Flood Fill - Wall Follower Algorithm and Flood Fill - Pledge Algorithm

Semuil Tjiharjadi
Maranatha Christian University, Bandung, Indonesia

Abstract—As a path-finding robot in the maze, the robot must have the ability to decide the direction taken at the intersection inside the maze. Robot will map route and try to reach the destination in the fastest time and shortest distance. Robot will use two algorithms for the pathfinding process, the Wall Follower algorithm, and the Pledge algorithm. Both algorithms can determine the direction in the process of achieving the expected target location. After the robot reach the destination, the robot will return to its starting position. Robot can easily reach its goal by using the Flood Fill method to decide the fastest and shortest route to reach that position now. This research is an analysis of the combination of the Flood Fill method with the Wall Follower algorithm compared to the Flood Fill method with the Pledge algorithm, based on a series of experiments conducted on various maze patterns in the maze. The experimental results show that robots can explore the maze and map it using the Wall Follower algorithm, Pledge algorithm, and a combination of both with the Flood Fill algorithm. Based on the analysis, it was found that the use of the Flood Fill algorithm that works in synergy with the Wall Follower algorithm and the Pledge algorithm, can dramatically increase the effectiveness of target point searches.

Index Terms—pathfinding, flood fill, wall follower, pledge

Cite: Semuil Tjiharjadi, "Performance Comparison Robot Path Finding Uses Flood Fill - Wall Follower Algorithm and Flood Fill - Pledge Algorithm," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 6, pp. 857-864, June 2020. DOI: 10.18178/ijmerr.9.6.857-864

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.