A Novel Maze Representation Approach for Finding Filled Path of A Mobile Robot

DOI

10.2991/cnci-19.2019.92How to use a DOI?

Keywords

Path finding, representation method, routing algorithm, filled path.

Abstract

Finding a way in a given maze is a common problem for mobile robots. Many routing algorithms are presented to solve the maze, but they usually propose a theoretical algorithm which can not be well applied to realistic problem. The biggest obstacle to practical use is to build the model in accordance with the true scale of the robot and the maze. In this study, we present a new path routing approach for mobile robots to get an intuitive filled path, which can solve the difficulty of modelling and be well applied to realistic problem. This approach is based on an optimized representation method of the maze. Specifically, we encoded adjacent pixels of same row into a segment, then use four basic elements in a column of a coded matrix to represent the segment information. Finally, an A* like algorithm is applied to the coded matrix to obtain filled path. The proposed method has a high compression rate and is capable to form a walkable domain for robots instead of a single shortest path. Also, we compared this algorithm with many classical maze coding methods and routing algorithms, the result shows the effectiveness and efficiency of our approach in compression rate and maze-solving time. Furthermore, many practical engineering fields can utilize this approach where it is a priority to find a walkable path in a relatively short time.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Changgang Zheng
AU  - Han Liu
AU  - Mengyu Ge
AU  - Yilin Liu
PY  - 2019/05
DA  - 2019/05
TI  - A Novel Maze Representation Approach for Finding Filled Path of A Mobile Robot
BT  - Proceedings of the 2019 International Conference on Computer, Network, Communication and Information Systems (CNCI 2019)
PB  - Atlantis Press
SP  - 664
EP  - 673
SN  - 2352-538X
UR  - https://doi.org/10.2991/cnci-19.2019.92
DO  - 10.2991/cnci-19.2019.92
ID  - Zheng2019/05
ER  -