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IJMERR 2022 Vol.11(8): 631-638

Design of Multi-Agent Pathfinding Robot Using Improved Flood Fill Algorithm in Maze Exploration

Semuil Tjiharjadi 1, Sazalinsyah Razali 2, H. A. Sulaiman 3, and Gerry Fernando 4
1. Computer System Department, Faculty of Engineering, Maranatha Christian University, Bandung, Indonesia Centre for Robotics and Industrial Automation, Fakulti Teknologi Maklumat dan Komunikasi, Universiti Teknikal Malaysia Melaka, Durian Tunggal, Melaka, Malaysia
2. Centre for Robotics and Industrial Automation, Fakulti Teknologi Maklumat dan Komunikasi, Universiti Teknikal Malaysia Melaka, Durian Tunggal, Melaka, Malaysia
3. Centre for Adcanced Computing Technology, Fakulti Teknologi Maklumat dan Komunikasi, Universiti Teknikal Malaysia Melaka, Durian Tunggal, Melaka, Malaysia
4. Computer System Department, Faculty of Engineering, Maranatha Christian University, Bandung, Indonesia

Abstract—Maze exploration is a field of science that continues to be researched and developed. Various algorithms, techniques, and scenarios result in faster trips and shortest distances. Various international competitions in the maze field are also held to encourage quicker and better labyrinth exploration innovations. Usually, maze exploration uses a mobile robot that moves autonomously in pathfinding to reach the target location. This study aims to generate and test a multi-agent algorithm to find the closest distance to reach a target in an unknown maze. So the question is how multi-agents can work together to reach the target using the shortest possible path. For this reason, a flood fill algorithm usually used for single-agent has been developed into an improved flood fill algorithm that can be applied to multi-agents. The result is an algorithm that can be applied to find targets through unknown maze exploration using multi-agent.

Index Terms— maze robot, flood fill algorithm, multi-agent, pathfinding

Cite: Semuil Tjiharjadi, Sazalinsyah Razali, H. A. Sulaiman, and Gerry Fernando, "Design of Multi-Agent Pathfinding Robot Using Improved Flood Fill Algorithm in Maze Exploration," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 8, pp. 631-638, August 2022. DOI: 10.18178/ijmerr.11.8.631-638

Copyright © 2022 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.