Maze solving problem is a very old problem, but still now it is considered as an important field of robotics. This field is based on decision making algorithms. The main aim of this project is to make an Arduino based efficient autonomous maze solver robot. Two simple mazes solving algorithms “Wall following algorithm” and “Flood fill algorithm” are used to make this robot. In this project Hardware development, software development and maze construction had been done. For performance testing, the robot will implement to solve 4×4 maze. Capability of finding the shortest path is also verified. -- Musfiqur Rahman; email: musfiqur.rahman.ete@ulab.edu.bd

1. MUSFIQUR RAHMAN
ID: 122015001
Dept. of ETE.
ULAB
AUTONOMOUS MAZE
SOLVING ROBOT

2. OVERVIEW
 INTRODUCTION
 OBJECTIVES
 APPLICATION OF THIS PROJECT
 PROJECT FLOW
 BLOCK DIAGRAM
 COMPONENTS
 ALGORITHMS
 RESULT
 COST ANALYSIS
 FURTHER DEVELOPMENT

3. INTRODUCTION
Autonomous robots are robots that can perform tasks intelligently depending on
themselves, without any human assistance. Maze Solving Robot is one of the most
popular autonomous robots. It is a small self-reliant robot that can solve a maze from
a known starting position to the center area of the maze in the shortest possible time.

4. OBJECTIVES
 Understand and implement the wall follower and Flood fill algorithm.
 Design and build Arduino based hardware.
 Developed software .
 Programmed the robot to solve the maze.
 Make a small 4×4 maze.

5. APPLICATION OF THIS PROJECT
 RESCUE OPERATION
 NAVIGATION PROBLEMS
 SEARCH OPERATION
 MEDICAL ATTENTION
 MILITARY SEARCH AND RESCUE

6. PROJECT FLOW

7. BLOCK DIAGRAM

8. COMPONENTS
 ULTRASONIC SONAR SENSORS (3),
 ARDUINO UNO,
 MOTOR CONTROLLER (L298)
 VOLTAGE RUGULATOR
 DC MOTORS (2),
 BATTERY (9V, 6V)

9. COMPONENTS
ULTRASONIC SONAR SENSOR
𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 =
𝑠𝑝𝑒𝑒𝑑 𝑜𝑓 𝑠𝑜𝑢𝑛𝑑 × 𝑡𝑖𝑚𝑒 𝑡𝑎𝑘𝑒𝑛
2
FORMULA:
*Speed of sound : 340m/s

10. COMPONENTS
ARDUINO UNO MOTOR CONTROLLER
VOLTAGE RUGULATOR
DC MOTORS

11. WALL FOLLOWING ALGORITHM
Right wall following routine Left wall following routine
if there is no wall at right, if there is no wall at left
turn right turn left
else else
if there is no wall at straight if there is no wall at straight
keep straight keep straight
else else
if there is no wall at left if there is no wall at right
turn left turn right
else else
turn around turn around

12. FLOOD FILL ALGORITHM

13. RESULT

14. RESULT

15. RESULT

16. COST ANALYSIS
No
.
Parts required Price Quantity Total
BDT
01 Robot Chassis 400 ×1 400
02 DC motor with Wheel 180 ×2 360
03 Ultra sonic sonar 120 ×3 360
04 Arduino UNO 550 ×1 550
05 Motor Controller 300 ×1 300
06 Batteries 120 -- 120
Sub Total : 2090

17. FURTHER DEVELOPMENT
 DECREASE THE SIZE OF THE ROBOT
 MODIFIED THE ALGORITHMS
 MAPPING SYSTEM
 CHANGE THE WHEELS AND BODY TO MAKE IT COMFORTABLE IN ROUGH
SURFACE