micromouse maze solving robot chang yuen chung universiti ...

31Figure 4.6 The Different Type of Maze Made By the Randomize Maze4.4 AlgorithmThe Flood fill and Modified Flood Fill algorithms have been successfullytested perfectly in the constructed randomized maze field. Both of the algorithm willalways find an alternative path to the center of the maze and after few rounds oftraveling, it will determine the shortest path to the center of the maze. ModifiedFlood Fill algorithm will be use as main solving algorithm since it takes less process.EEPROM had been used to memorize the maze map when exploring andassisting the effectiveness of the algorithm. Since there are 49 cells, so 49 byte willbe use to memorize the maze map. Each of the byte is called the information bytesince it stores the information for the map. Basically, each information byte consistof 8 bits where bit 0 to bit 3 will used to store the existence of wall in the North,West, East, South direction. Bit 4 and bit 5 will be used to keep the facing directionof the Micromouse in the current cell. The other left bit will not be used. Figure 4.7