micromouse maze solving robot chang yuen chung universiti ...

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211. Check for new walls and update the wall map.2. “Re-flood” the maze with new distance values and update the distancearray.3. Move to the neighbouring cell with the lowest distance value.Flood Fill is called a “breadth first” algorithm because, if the maze isconsidered to be a spanning tree, an entire level is searched before exploring thewhole depth of a particular branch. The major advantage of the Flood Fill algorithmis that it always finds the shortest path to the center of the maze. It is important tonote that the shortest path is not necessarily the quickest path since a path filled withturns will take a longer time to traverse than one primarily composed of forwardgoing moves. The relative disadvantage of this algorithm is that more memoryrequired for execution.Several modifications of the flood filled algorithm may be implemented toincrease efficiency. For example, Modified Flood Fill is a derived version of regularFlood Fill in which only those valued which need to be changed are actually updatedwhen searching the maze rather than re-flooding the entire maze as in regular FloodFill. This method is considerably faster than regular Flood Fill because entire mazedoes not need to update each time the Micromouse moves to a new cell.Flood Fill algorithm will be developed in this project since it is the mosteffective algorithm among the algorithms been explained. The Modified Flood Fillalgorithm will also be carried out from the modification of Flood Fill algorithm.Figure 3.11a and 3.11b shows the pictorial illustrations for Modified Flood FillAlgorithm:
Figure 3.11a Pictorial Illustrations for Modified Flood Fill Algorithm22
Page 5 and 6: ii“I declare that this thesis ent
Page 7 and 8: ivACKNOWLEDGEMENTI would like to ta
Page 10 and 11: viiTABLE OF CONTENTSCHAPTER TITLE P
Page 12 and 13: ixLIST OF FIGURESFIGURE NO. TITLE P
Page 14 and 15: xiLIST OF ABBREVIATIONS3D - 3 Dimen
Page 16: CHAPTER 1INTRODUCTION1.1 Project Ba
Page 19 and 20: CHAPTER 2LITERATURE REVIEW2.1 Previ
Page 21 and 22: 62.3 Mobot [2]The second model will
Page 23 and 24: 82.5 Micromouse UTM FYP 2006 [4]Ano
Page 25 and 26: 102.7 SummaryAs a summary from the
Page 27 and 28: 12As an overview of the Micromouse
Page 29 and 30: 143.3 Structure and MechanismIn ord
Page 31 and 32: 16by the environment. Figure 3.4 sh
Page 33 and 34: 18Figure 3.8 Characteristic Table a
Page 35: 20microcontrollers utilized for Mic
Page 39 and 40: 243.7 SummaryAs a summary for chapt
Page 41 and 42: 26Right ViewLeft ViewVIEWFront View
Page 43 and 44: 281234+5VVCC VCC VCC VCCABSENSOR321
Page 45 and 46: 30Figure 4.5 Schematic for the Moto
Page 47 and 48: 32shows the content of the informat
Page 49 and 50: 34development process. Figure 4.10
Page 51 and 52: 365.2 ConclusionAs a conclusion, th
Page 53 and 54: REFERENCES[1] Web Reference:http://

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