MazeSolverProject

Overview

MazeSolverProject is a PlatformIO-based embedded system project designed to efficiently solve mazes using optimized FloodFill algorithms. The project is built for a maze-solving robot equipped with:

• 4 HC-SR04 ultrasonic sensors (front, right, back, left) for obstacle detection.
• MPU6050 IMU sensor for dead reckoning and odometry-based movement.
• Custom movement logic for precise control, accurate turning, and movement optimization.

This system is designed to operate autonomously in a maze, accurately mapping walls and computing the shortest path to the goal using a FloodFill algorithm with optimizations. This was built for the 2023 Technoxian World Robotics Championship 2023 under team RoboManipal.

Features

• Optimized FloodFill Algorithm for efficient path planning.
• HC-SR04 Ultrasonic Sensor Integration for real-time obstacle detection.
• IMU-based Odometry using an MPU6050 for accurate movement tracking.
• Dead Reckoning Capabilities for position estimation.
• Custom PID-based Movement Control ensuring precision in turns and navigation.
• Modular Design for easy modification and adaptation to different robotic platforms.
• PlatformIO Support for streamlined development and deployment.

Project Structure

MazeSolverProject/
│── include/        # Header files for classes and functions
│── src/            # Source files implementing maze-solving algorithms
│── lib/            # Custom libraries (MazeBot, Sensor Integration)
│── test/           # Test cases for verifying correctness
│── platformio.ini  # Configuration file for PlatformIO
│── images/         # (Optional) Contains an image of the robot

Hardware Configuration

• Motors: Two independent drive motors (left and right) for movement.
• Ultrasonic Sensors: Four HC-SR04 sensors for distance measurement.
• IMU Sensor: MPU6050 for accurate angle measurement and dead reckoning.
• Microcontroller: Compatible with ESP32 or similar embedded controllers.

Dependencies

This project requires the following dependencies:

• PlatformIO: A development platform for embedded systems.
• Arduino Framework: Provides essential libraries for Arduino-based development.
• Wire Library: For I2C communication with the MPU6050.

These dependencies are managed through the platformio.ini configuration file.

Installation

To set up and run the MazeSolverProject:

1. Clone the repository:

   git clone https://github.com/TarunMurugan/MazeSolverProject.git

2. Navigate to the project directory:

   cd MazeSolverProject

3. Open the project using PlatformIO:

   • If using VS Code, install the PlatformIO extension and open the project folder.
   • If using the CLI, navigate to the project directory and run:

     platformio run

4. Build the project:

   platformio run

5. Upload to target hardware (if applicable):

   platformio run --target upload

Usage

• The bot initializes by calibrating its MPU6050 IMU.
• It then begins scanning the environment using ultrasonic sensors.
• Wall mapping is performed using sensor data, and the FloodFill algorithm is executed to navigate the maze.
• The bot autonomously moves through the maze while optimizing movement based on PID control.
• The bot maintains an odometry log using IMU data for precise movement tracking and dead reckoning.

Custom Library (MazeBot)

The lib/ folder contains a custom-built MazeBot library that integrates:

• Ultrasonic sensor handling
• IMU-based motion control
• Movement commands (forward, turn left, turn right)
• Wall detection logic

Example Robot Setup

An image of our bot:

Credits: Team Robomanipal