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Algorithm for Multidisciplinary Design Project (CZ3004)
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Algo
Demo
GUI
Maps
.flake8
.gitignore
README.md
comm_rpi.py
comm_rpi_simple.py
create_debug.py
debug.py
log.txt
server_sim.py
todo.txt

README.md

MDP-Algo

Algorithm for a maze solving robot, the robot first needs to explore the maze and then take the fastest path from the start to goal cell.

Details

  • Uses a modified version of the Right-Wall Hugging algorithm for exploration
    • Added checks for maximum time a cell is visited
    • Multiple block movement during forward motion
    • Exploring left out regions by taking fastest path to nearest unexplored cell
  • Uses a modified version of the A* algorithm for Fastest Path
    • Adds a penalty for turning to encourage straight line motion

Usage

  • Clone the repository and navigate to the folder
  • Run python server_sim.py and navigate to localhost:8888 in a browser

Exploration Demo

Explore GIF

Fastest Path Demo

Fastest Path GIF

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