Modified Line-Maze Algorithm for Mobile Robot Navigation

This paper will discuss the design of a fully autonomous fire fighting robot which is able to navigate through a maze and navigate back to it's starting position. The maze is designed with few obstacles that must be avoided by the robot while navigating. A Modified Line-Maze Algorithm is introduced to navigate the robot through the maze and reach a fire lit at different locations on the arena in the form of candles, and will blow it off using a fan. The concepts implemented in this robot are differential drive control, obstacle avoidance, environmental sensing, and electronic circuit design. The sensors used in the robot are PING ultrasonic sensor, infrared ranger, digital compass, and UVTron flame sensor. The robot is being controlled by AVR ATMega128 16 MIPS and is designed according to the rules laid down by, and to compete in the Indonesia Intelligent Robot Contest (KRCI) in 2012. Before the contest, the robot is tested to solve the maze problem and the result shows that the fastest time needed for robot to extinguish the fire and return to its starting point is 48.46 seconds and the false reading has been reduced as high as 99% compared to the previous design [1]. (C) 2012 Elsevier B.V. Selection and/or peer-review under responsibility of Bin Nausantar University