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Using flood-fill algorithms for an autonomous mobile robot maze navigation

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Abstract

Autonomous robotic navigation in unknown and complex environment as mazes is an important task for the wheeled mobile robots. Different algorithms have been used to deal with this problem, where the most known are based on optimization processes in order to find the optimal path safely. The present paper describes an implementation of a simple maze-solving algorithms based on Arduino-UNO card. The two versions of flood-fill algorithms are used for mobile robot maze navigation: the basic version of flood-fill algorithm (FFA) and the modified flood-fill algorithm (MFFA). Ultrasonic sensors are used to perceive, detect walls and the maze shape. The obtained experimental results demonstrate the efficiency of these implemented algorithms to autonomous robot navigation. In all cases, the controlled wheeled mobile robot is able to move in the maze safely, and can solve it effectively and autonomously.

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Abbreviations

FFA:

Flood fill algorithm

MFFA:

Modified flood fill algorithm

LHWA:

Left hand wall algorithm

d R :

Right distance

d F :

Front distance

d L :

Left distance

DC:

Direct current

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Acknowledgements

The authors would like to thank members of the laboratory (LAADI), editor and reviewers for their time and effort to provide helpful critiques and comments to improve the paper.

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  1. Laboratory of Applied Automatic and Industrial Diagnostics (LAADI), University of Djelfa, 17000, Djelfa, Algeria

    Mohamed Nadour & Lakhmissi Cherroun

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  1. Mohamed Nadour
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  2. Lakhmissi Cherroun
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Correspondence to Lakhmissi Cherroun.

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Nadour, M., Cherroun, L. Using flood-fill algorithms for an autonomous mobile robot maze navigation. Int J Syst Assur Eng Manag 13, 546–555 (2022). https://doi.org/10.1007/s13198-022-01630-4

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  • DOI: https://doi.org/10.1007/s13198-022-01630-4

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