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Design and Implementation of Flood Fill and Pledge Algorithm for Maze Robot

Semuil Tjiharjadi
Computer Engineering Dept., Maranatha Christian University, Bandung, Indonesia

Abstract—Maze Robot is a path finding autonomous mobile robot which can reach a certain point. One of its capabilities is moving from one point to another autonomously. Maze Robot is able to explore an unknown environment. Map the environment and seeking good path to reach a certain point. This MazeRobot is a mobile robot which moves using wheels with differential steering type. It is designed to solve a maze environment that has a size of 5 x 5 cells and it is used to implement the flood-fill algorithm and the pledge algorithm. It is using ultrasonic range finders to detect walls and opening in the maze. The robot has ability to use pledge algorithm to collect the information and learn the maze, it finds all possible routes and solve the problem using the shortest one. Result of experiments show the robot can explore the maze and map it, Robot also can find the shortest path to destination point with 80% success rate. 

Index Terms—flood fill algorithm, pledge algorithm, path finding, maze, wall follower algorithm

Cite: Semuil Tjiharjadi, "Design and Implementation of Flood Fill and Pledge Algorithm for Maze Robot" International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 4, pp. 632-638, July 2019. DOI: 10.18178/ijmerr.8.4.632-638