The primary objective of this project is to construct a prototype self-balancing rover capable of autonomously traversing a maze, mapping its layout, and finding the shortest path from the start to the endpoint.
- The navigation of the maze was conducted using computer vision with a D8M camera module, and ultrasonic sensors to detect and measure the placement of white LED strips which signify maze walls.
- Determining the rover’s position within the maze and in relation to the white LED strips, was achieved using the MPU6050 inertial measurement unit, capable of finding the Euler angles and using methods of triangulation with beacons, and deadreckoning to determine displacement.
- The term ‘beacon’ refers to three self-powered LEDs supplied by energy from solar panels.
- Whilst moving and balancing on two wheels, the rover sends the coordinates of the path it has traversed and the surrounding maze walls in real-time to the server to build up the map of the maze and ultimately find the shortest path.
