Optimization Maze Robot Using A* and Flood Fill Algorithm

Tjiharjadi, Semuil; Wijaya, Marvin Chandra; Setiawan, Erwin Budi

doi:10.18178/ijmerr.6.5.366-372

Cited by 8 publications

(3 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Discretised potential field variants such as modified CFill and Flood-Field Methods (FFMs) have been shown to have greater time efficiency in comparison to Potential Field Methods (PFMs) [22,23]. FFAs have gained interest in the context of optimal path planning for 2D platforms [24,25], that has demonstrated flexibility through effective integration with optimal motion planners such as the A* algorithm [26]. These concepts have evolved in application to optimal motion planning in 3D space for UAVs with an exhaustive search pattern [27].…”

Section: First Iterationmentioning

confidence: 99%

A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors

Poole

Sutcliffe

Pierce

et al. 2021

Sensors

View full text Add to dashboard Cite

Robotised Non-Destructive Testing (NDT) has revolutionised the field, increasing the speed of repetitive scanning procedures and ability to reach hazardous environments. Application of robot-assisted NDT within specific industries such as remanufacturing and Aersopace, in which parts are regularly moulded and susceptible to non-critical deformation has however presented drawbacks. In these cases, digital models for robotic path planning are not always available or accurate. Cutting edge methods to counter the limited flexibility of robots require an initial pre-scan using camera-based systems in order to build a CAD model for path planning. This paper has sought to create a novel algorithm that enables robot-assisted ultrasonic testing of unknown surfaces within a single pass. Key to the impact of this article is the enabled autonomous profiling with sensors whose aperture is several orders of magnitude smaller than the target surface, for surfaces of any scale. Potential applications of the algorithm presented include autonomous drone and crawler inspections of large, complex, unknown environments in addition to situations where traditional metrological profiling equipment is not practical, such as in confined spaces. In simulation, the proposed algorithm has completely mapped significantly curved and complex shapes by utilising only local information, outputting a traditional raster pattern when curvature is present only in a single direction. In practical demonstrations, both curved and non-simple surfaces were fully mapped with no required operator intervention. The core limitations of the algorithm in practical cases is the effective range of the applied sensor, and as a stand-alone method it lacks the required knowledge of the environment to prevent collisions. However, since the approach has met success in fully scanning non-obstructive but still significantly complex surfaces, the objectives of this paper have been met. Future work will focus on low-accuracy environmental sensing capabilities to tackle the challenges faced. The method has been designed to allow single-pass scans for Conformable Wedge Probe UT scanning, but may be applied to any surface scans in the case the sensor aperture is significantly smaller than the part.

show abstract

Section: First Iterationmentioning

confidence: 99%

A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors

Poole

Sutcliffe

Pierce

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…Portanto, essas funções deverão estar disponíveis no modelo final do Doogie Mouse. [6], busca em profundidade [8], Flood Fill [9-10] e A* [11]. Ademais, a modularidade do sistema permite que o desenvolvedor implemente outros algoritmos de inteligência.…”

Section: Matriz De Comparaçãounclassified

Doogie Mouse: Uma Plataforma Open Source Para Aplicação De Algoritmos Iniciais De Inteligência Artificial Em Robótica Móvel

Amaral¹,

Meneses²

2019

Blucher Engineering Proceedings

View full text Add to dashboard Cite

Um estudo realizado no Brasil sobre o atual cenário de pesquisas na robótica demonstra que 53,48% dos robôs usados em pesquisas nacionais são construıdos no país. Assim, para que pesquisadores eliminem a etapa de projeto de um novo robô em cada nova pesquisa, este trabalho busca realizar a concepção de uma plataforma open source do tipo micromouse, utilizando o framework ROS e o simulador Gazebo, em que conceitos primários de inteligência artificial podem ser aplicados. Para isso, foi formulado um benchmarking e, porconseguinte, foi elaborada a arquitetura geral e eletrônica e idealizado o modelo mecânico do Doogie Mouse. Os resultados preliminares da simulação expressaram como o tipo de malha do modelo mecânico influenciam na estabilidade e realidade da simulação.

show abstract

“…The maze type variation will give insight into how a robot with a particular algorithm interacts with obstruction in the maze. Another algorithm, i.e., flood filling, is similar to our variation in the maze for dead ends and loop [23], [24].…”

Section: Introductionmentioning

confidence: 99%

A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes

Fahmi

Suroso

2021

Journal of Robotics and Control

View full text Add to dashboard Cite

The point of education in the early stage of studying robotics is understanding its basic principles joyfully. Therefore, this paper creates a simulation program of indoor navigations using an open-source code in Python to make navigation and control algorithms easier and more attractive to understand and develop. We propose the maze-solving-robot simulation as a teaching medium in class to help students imagine and connect the robot theory to its actual movement. The simulation code is built for free to learn, improve, and extend in robotics courses or assignments. A maze-solving robot study case is then done as an example of implementing navigation algorithms. Five algorithms are compared, such as Random Mouse, Wall Follower, Pledge, Tremaux, and Dead-End Filling. Each algorithm is simulated a hundred times in every type of the proposed mazes, namely mazes with dead ends, loops only, and both dead ends and loops. The observed indicators of the algorithms are the success rate of the robots reaching the finish lines and the number of steps taken. The simulation results show that each algorithm has different characteristics that should be considered before being chosen. The recommendation of when-to-use the algorithms is discussed in this paper as an example of the output simulation analysis for studying robotics.

show abstract

Optimization Maze Robot Using A* and Flood Fill Algorithm

Cited by 8 publications

References 4 publications

A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors

A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors

Doogie Mouse: Uma Plataforma Open Source Para Aplicação De Algoritmos Iniciais De Inteligência Artificial Em Robótica Móvel

A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes

Contact Info

Product

Resources

About