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Navigation of PIC Based Robot Using Shortest Path Planning Algorithm

This document summarizes a presentation about navigating a PIC-based robot to find the shortest path through a maze using a heuristic search algorithm. The robot will use either the left-hand rule or right-hand rule to navigate through the maze on the first pass, recording the path taken. When it encounters a dead-end, it will perform a U-turn and avoid that path on the second pass through the maze. The algorithm analyzes the stored path to replace instances of "Straight-U-Left" with "Right" to determine the correct path through intersections on the second pass to find the shortest route through the maze.

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36 views43 pages

Navigation of PIC Based Robot Using Shortest Path Planning Algorithm

This document summarizes a presentation about navigating a PIC-based robot to find the shortest path through a maze using a heuristic search algorithm. The robot will use either the left-hand rule or right-hand rule to navigate through the maze on the first pass, recording the path taken. When it encounters a dead-end, it will perform a U-turn and avoid that path on the second pass through the maze. The algorithm analyzes the stored path to replace instances of "Straight-U-Left" with "Right" to determine the correct path through intersections on the second pass to find the shortest route through the maze.

Uploaded by

karishma10
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 43

Navigation of PIC based Robot using Shortest Path Planning Algorithm

Guide:Presented by-

Prof. Praveen Gubbala.

Karishma K Shitole. PRN: 09070121331 (Btech.IT)

Page 1

What Robots Cant Do?

1. Decision Making

2. Understanding Language

3. Reasoning

Page 2

4. Vision
Page 3

FiG 1.1 - Block Diagram Of System

Page 4

Robot System

Heuristic Search Algorithm

Page 6

Left Hand Rule


For this presentation, the robot will always use the left hand rule, which means: 1.Always prefer a left turn over going straight ahead or taking a right turn. 2.Always prefer going straight over going right. If the maze has no loops, this will always get you to the end of the maze. Right Hand Rule The right hand rule is just the opposite: 1.Always prefer a right turn over going straight ahead or taking a left turn. 2.Always prefer going straight over going left. If the maze has no loops, this will always get you to the end of the maze.

WHICH RULE DO I USE???

It really doesnt matter.


Both the left hand and the right hand rules will get you to the end of a simple maze. Which you select is purely a matter of personal preference.

Just pick one and be consistant.

SIMPLE MAZE
In the two mazes below, notice that: 1.The left hand maze has no loops. Using the left hand (or right hand) rule will always get you to the end of the maze. 2.The right hand maze has several loops.

SIMPLE MAZE
Notice the loops in the right hand maze.

THE 8 POSSIBLITIES???
Given a maze with no loops, there are only 8 possible situations that the robot can encounter.

Line Sensors Use Line Sensors Use

Line sensors shine visible or infrared light down at the floor and the measure the reflection Using a 1to mean Sensor sees black. and 0to mean Sensor sees white., a robot travelling along the black line to the right might produce several patterns: 1 0 0 0 0 = Line off to left 0 1 0 0 0 = Line a little to left 0 0 1 0 0 = Dead center! 0 0 0 1 0 = Line a little to right 0 0 0 0 1 = Line off to right

Line Sensors Spacing


Notice that if the robot is travelling downward on the black line to the right, when it reaches the T intersection at the bottom, the pattern will change from 00100 to 11111. The program reads these patterns to determine where it is in the maze.

If the sensors are spaced closer together so that two sensors can detect the line at the same time, there are many more combinations and you can have more precise control over your robots path
. Possible patterns: 10000 11000 01000 01100 00100 00110 00010 00011 00001

01100

00110

The Main Algorithm


In order to solve the maze, the robot needs to traverse the maze twice. In the first run, it goes down some number of dead-ends, but records these as bad paths so that they can be avoided on the second run. Next, we will learn how this algorithm works.

So, we will use the left hand rule for the first pass through the maze. There will be several dead-ends encountered and we need to store what we did so the correct path can be computed.

The robot takes off! At the first intersection, the robot senses a Straight or Right intersection. The left hand rule requires that the robot go straight

The robot continues straight an stores the turn taken S in memory.

The robot runs off the path (Pattern = 00000) and the correct behavior is to take a U-Turn.

After the U-Turn, record the turn taken U in memory.

After the U-Turn, record the turn taken U in memory. When the robot gets back to the first intersection, it will go left, so

The left hand rule calls for a left turn, so take a left and record the turn. We recorded SUL, but we know (because of the U) that we should have not gone down that path.
What could the robot have done to avoid going down the deadend path? Instead of SUL, the robot should have done R.

So, delete the SUL in memory..


So, our first general rule is: Anywhere the stored path ends with Straight-U-Left (SUL), we replace it with Right (R).

R
And replace SUL with R. This tells the robot, next time through the maze, to take a right turn at the first intersection.

The next intersection is a Four-Way Intersection. The left hand rule requires a left hand turn, so turn left and record an L.

The intersection coming up, the Right-Only has a special characteristic that needs explaining, so we will detour for a bit

Next, the robot will encounter a dead-end, do a U-turn and record a U.

Next, the robot will encounter a dead-end, do a U-turn and record a U.

Returning to the intersection, we see left turn coming, so record the L and since we just came down a bad path, examine the path.

Why is Testing needed ?

Page 41

Conclusion
Momentum is building in intelligent robotics. During the past few years, there have been significant leaps in self learning and swarm robotic performance in the areas of navigation, defense and security. Researchers have developed robotic swarms that have the potential to co-ordinate with each other. So the work here is to implement shortest path planning heuristics algorithm using robot. PIC microcontroller is used to control the motion of the robot. Finally, the master robot travels through all available paths and decides the shortest path and this information is transmitted to slave robot for traveling through given path.

Page 42

Any Questions ???

THANK YOU!!

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