Report of

“Skill Development”
ON

“Maze Solving Robot”

SUBMITTED TO THE SAVITRIBAI PHULE UNIVERSITY, PUNE

THIRD YEAR ENGINEERING (AUTOMATION AND ROBOTICS)

BY

Roll No. Name

57 Tambe Kaveri
22 Kakad Abhishek
23 Kale Abhishek
12 Gadakh Kalyani
42 Pawar Sakshi
59 Thakare Sanket
17 Hajare Nikhil

Under Guidance of
Department of Automation &Robotics

AMRUTVAHINI COLLEGE OF ENGINEERING, SANGAMNER

A/P: GHULEWADI, SANGAMNER, AHMEDNAGAR, PIN - 422608
YEAR 2023-2024

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Abstract
Maze solving robot aims to solve the maze by navigating from one point at the start to
the other point at the end. And try to do it in the shortest path possible. We design and
program a robot that depends on a Left-hand algorithm to solve the maze from the
starting point to the end, and an LSRB algorithm to find the shortest path, by using C++
language to program the Arduino microcontroller. This robot is equipped with three
ultrasonic sensors to check the path for right, left, and straight direction. The robot is
able to move automatically in many mazes, find the shortest path between two points,
calculate the traveled distance, and be able to solve the same maze in the second round
in a shorter time.

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 TABLE OF CONTENTS

CHAPTER 1: INTRODUCTION…………………………………………..………………………………….……………………………………9

OVERVIEW 1.1…………………………………....…………………………………………....…………………..…………………….….............9

MOTIVATIONS 1.2…………………………………….………………………………………..…………………..…..……..…………..…….......9

OBJECTIVES 1.3…………………………………………....……………..…..………………………..………..…………………………………10 PURPOSE

1.4…………………………………………………..…………..……..……….…………………….…………………….…………….10

PROJECT DESCRIPTION 1.5………………………………….…...……...…………...………………………………..……….…….…..............10

PROJECT IMPORTANCE 1.6………………………………………….…...………………………………………………………….…………...10 REQUIREMENTS

1.7…………………………………………...………...………………………….…………………………….….…................11

CONSTRAINTS 1.8……………………………………………….………...…...……………………….………………………..………………..11

EXPECTED RESULT 1.9…………………………………………………………….…...……….………....……………...……..….…………....11

EXISTING WORK 1.10……………………………………………………………………....………….………....…….………..…..……………11

CHAPTER 2: BACKGROUND………………………………………………………………………………………..….....…….……………13

OVERVIEW 2.1……………………………………………………………………………………..………….……………….……....…............13

THEORETICAL BACKGROUND 2.2…………………………………………………………………………………..…..…………...…...….13

PROBLEM ANALYSIS 2.3………………………………………………………………………………………..……………...….................13

DESIGN OPTIONS OF HARDWARE COMPONENT 2.4……………………………………….……………………………….…................14

Microcontroller 2.4.1……………………………………………………………………………………...………………..….………...14

Detecting sensor 2.4.2…………………………………………………………..……………………….…………………………..…..16

Motor driver 2.4.3………………………………………………………...……………………...…………………………..………….17

Raspberry Pi battery pack 2.4.4……………………………………………………………………………………………....…………19

Two wheeled robot car kit 2.4.5…………………………………………………………………………………………………………19

SYSTEM SOFTWARE COMPONENT 2.5…………………………………………………………………………………………………….20

CHAPTER 3: DESIGHN….……………………………………………………………………………………………………………………....21 OVERVIEW

3.1…………………………………………………………………………………………………………………………………….21
DETAILED SYSTEM DESCRIPTION 3.2………………………………………………………………………………………………………..21

Software part 3.2.1…………………………………………………………………………………………………………………………..21

Hardware part 3.2.2………………………………………………………………………………………………………………………….28

CHAPTER 4: HARDWARE AND SOFTWARE IMPLEMENTATION…………………………………………………………...…………34

OVERVIEW 4.1……………………………………………………………………………………………………………………………………..34 ARDUINO

MICROCONTROLLER 4.2………………………………………………………………………………………………………….34

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 Hardware implementation 4.2.1…………………………………………………………………………………………………………...34

Software implementation 4.2.2…………………………………………………………………………………………………………….37

CHAPTER 5: VALIDATION AND TESTING………………………………………………………………………………………………...38

OVERVIEW 5.1…………………………………..……………………………………………………………………………………………….38

TEST 5.2…………………………………………………………………………………………………………………………………………...38

Motors test and connection 5.2.1………………………………………………………………………………………..…………………….38

Ultrasonic test and connection 5.2.2…………………………………………………………………………………………………………..38

Speed Sensor Module test and connection 5.2.3………………………………………………………………………………………………38

Infrared Sensor (IR) test and connection 5.2.4………………………………………………………………………………………………..38

IMPLEMENTING ISSUE 5.3……………………………………………………………………………………………………………………...39

Hardware Issues 5.3.1………………………………………………………………………………………………………………………...39

Software Issues 5.3.2………………………………………………………………………………………………………………………...40

CHAPTER 6: CONCLUSION……………………………………………………………………………………………………………………41

OVERVIEW 6.1…………………………………………………………………………………………………………………………………….41

CONCLUSION 6.2………………………………………………………………………………………………………………………………….41

FUTURE WORK 6.3………………………………………………………………………………………………………………………………..41

REFRENCES……………………………………………………………………………………………………………………………………….42

LIST OF TABLES

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 1. Table 2.1. Arduino Mega 2560 specification……………………….……….……………………15
2. Table 2.3. Ultrasonic sensor specification………………………….…………………………….17
3. Table 2.4. Motor driver
specification……………………………………………………………..18

Chapter 1 :Introduction
1.1 Overview

A maze solving robot is a universal theme that has a great importance, not only as a
game, but also it has many uses in a practical life like factories and dangerous places. It is
based on designing a robot able to determine its own direction of motion, to find the
shortest path between two points A and B in any maze, as shown in Figure 1.1.

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 Figure 1.1: Simple maze

1.2 Motivations

The main idea in this project is to design and program a robot capable of determining the
direction of its movement in different mazes to find the shortest path between the
starting point A and the end point B in the first round, calculating the traveled distance,
so that it can quickly go through the maze in the second round.

1.3 Objectives

The project aims to build a microcontroller-based system that is the brain of the robot, it is
use to collect information from various input devices such as sensors to solve the
maze, by achieving the following objectives:

1- Design a small scale robot that is able to move inside a maze and solve it.

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2- Assemble the hardware pieces like sensors, motor driver, and motor encoder.

3- Convert the approved algorithm into a code to control the robot.

4- Make a small maze.

1.4 Purpose

Developments in the field of artificial intelligence have led to access a high level of time
saving and performance speed, so we designed an effective robot that can move in a given
maze that achieves the desired constraints to find the path between two points A
and B.

1.5 Project description

This project is designed to solve the maze game. The project methodology is based on
designing and programming a robot capable of finding the path that connects the starting
and ending points, reaching all areas of the maze, storing these paths on the map, and
the robot saving it. Then the robot calculates the distance covered by each path and it
has to determine the shortest distance to reach the end, so in the second round it goes
directly through the shortest path. The mazes we used in this system will contain no
loops.

1.6 Project importance

There are many International competitions on this subject, in addition to the possibility of
its use in navigating hazardous areas or hard to reach places such as: military rescue or
navigation in minefields, navigation in toxic environments, to find the human in the
wreckage of the plane, etc.

1.7 Requirements

This system achieve the following:

1- Designing a robot that can be able to self-move.
2- The robot must be able to solve different mazes.
3- Being able to reach the end point in the given maze from the start point.

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4- Determine the shortest path in the given maze.

1.8 Constraints

For the project to run successfully, there are many constraints!

1- There are no obstacles in the way it walks, like the streets.
2-The size of the maze is small.

1.9 The result

After we finish this project, we have a robot designed and programmed to enter different
mazes, that can be able to move automatically to find the shortest path between the start
point A and endpoint B and save the map of the given maze during its movement. Also,
reach its target (the endpoint) in the second round in the same maze.

1.10 Existing work

In this section we will review previous work. Following are the details:
1-Modelling and Characterization of a Maze-Solving Mobile Robot Using Wall Follower Algorithm
[1].
That project aimed to design and develop a working mobile robot that is able to solve a
simply connected maze. They used the wall follower algorithm to solve the maze, use
proximity sensors to detect the walls of the labyrinth, and they have used a PIC
microcontroller.

2-Design and Implementation of a Robot for Maze-Solving using Wall Following Algorithm[2].
In this project a maze solving robot makes multiple runs in a maze, first it creates a map
of the maze layout and stores it in its memory, then runs through a shortest path. The
system design of the maze solving robot consists of obstacle avoidance ultrasonic
sensors and then sensors will detect the wall. To solve the maze, this robot will apply
wall following algorithms such as left or right hand rule.
The maze solving robot designed in this tutorial is built on Arduino UNO.

3-Experimentation on the motion of an obstacle avoiding robot [3] .

This paper implements an experiment on one of the important fields of AI – Searching
Algorithms, to find the shortest possible solution by searching the produced tree. They
have concentrated on Hill climbing algorithm, which is one of simplest searching
algorithms in AI. This algorithm is one of most suitable searching methods to help expert
systems to make decisions at every state, at every node.

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The robot used is EV3 Lego Mindstorms, with native software for programming LabView,
and it has 3 ultrasonic sensors, 1 in front to sensors obstacle in front, 2 by the sides,
right left – they compare distance between the robot and the wall.

But our project will be concentrate on designing robot that finds the target point and
calculates the shortest path using Left-Hand algorithm. What it means is that we will turn
left whenever it is possible and turn right when we are at an intersection and no other
path to follow, also when we reach at dead end, turn 180 and then follow the path back
from where the robot came. With ultrasonic sensors to detect the walls in maze also use
Arduino Mega 22560.

Chapter 2: Background
2.1 Overview

This chapter introduces a theoretical background of the project, some description of

hardware and software components used in the system. Finally, discussion of
specification and design constraints are presented.

2.2 Theoretical background

This project aims to develop a robot that can be used in some cases that are difficult for
a person to deal with, by developing both hardware, and software side. The delay that is

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caused by the difficulty to reach the goal could lead to dangerous situations that affect
people lives or even our personal life such as the military rescue or navigation in
minefields, navigation in toxic environments also finds the human in the wreckage of the
plane.

The proposed system is supposed to solve these cases by first designing a robot that can
be able to move automatically, go in the right direction inside different mazes, using
ultrasonic sensors, which are set in the robot. The sensors then send the data to a
microcontroller in order to process with a specific algorithm, to solve the maze. Second,
the system will determine the shortest path after it walks in a given maze between two
points A and B, by using a motor encoder.

2.3 Problem analysis

Many accidents happen in our world, whether it is the result of nature, such as
earthquakes and devastating storms, or perhaps caused by humans such as wars and
disturbances, these accidents require people to search for the survivors and help get
them out from the accident site. Consider the risks that are facing the rescuer that the
search is done slowly and carefully, but this affects on time, to locate the survivors,
which prompts us to use this robot to search in dangerous or large environments instead
of humans. On the other hand there are many competitions that are based on this topic,
which leads the person to design robots that can compete and win.

2.4 Design options of Hardware components

This section describes all of the hardware used in our project. It presents a figure for each
one with a short description about its work principle and why it is used in the system.

2.4.1 Microcontroller

-First design option: Raspberry Pi.

A series of small single-board computers developed by the Raspberry Pi foundation,
selling outside its target market for uses such as robotics.It can be used in many
applications such as communications and networking, wireless, and consumer
electronics. We can install many operating systems on it, such as Windows 10 IOT,

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Android things, and Ubuntu MATE. There are many types of it, such as RPi pi 3 A+,
RPi 3 Model B, RPi 3 Model B and RPi 4 Model B.

-Second design option: Arduino.

It is a microcontroller, refers to an open-source electronics platform or board, it is made
up of two types of pins: analog and digital, it can be attached to different expansion
boards (shields). Arduino programming language is a simplified form of C/C++, there are
many types of Arduino boards such as Uno Rev 3, Due, Mega and Leonardo. Processor
used in the Arduino is from AVR family Atmega328P.

Chosen design option: Arduino Mega 2560

Arduino mega 2560, as shown in Figure 2.1: is a microcontroller board on the
ATmega2560, that have 54 digital input/output pins, 16 of these pins analog input,15
can be used as PWM outputs, 4 UARTs (hardware serial ports), a 16 MHz crystal
oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It is
easily connected to a computer with a USB cable and also powers it with an AC-to-DC
adapter or battery to start work.
It comes pre-programmed with a bootloader that allows you to upload new code to it without
using an external hardware programmer.
There are many specifications of Arduino: It is very simple to interface sensors and other
electronic components to Arduino. Available for a low cost. This is a plug-and-play
device because if power is connected it starts running the program and if disconnected it
simply stops. Arduino makes hardware projects simple. It has no OS which means easily
using it, in addition to many specifications as shown in Table 2.1. Therefore, it is great
for hardware projects in which you simply want things to respond to various sensor
readings so we will choose it.
On the other hand, Raspberry Pi 3 is a Single Board Computer (SBC). This means that the
board is a fully functional computer with its own dedicated processor, memory, and can run
an operating system (runs on Linux). The Raspberry Pi 3 B is a mini-computer with
Raspbian OS which easily connects to a lot of actuators, it includes 1G RAM, 4 USB ports
to connect different devices, 40 GPIO Pins, Ethernet port, provides an SD card port, audio
output, and has a graphic driver for HDMI output. Raspberry pi requires a lot of complex
tasks to start using it as installing libraries, and software to link sensors. It is more
expensive than the Arduino. It does not have storage space on board. Provides an SD card
port. This should be properly shut down if not, there is a risk of file corruption and software
problems. It is difficult to power using a battery pack.

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specification Arduino Mega 2560

Microcontroller ATmega2560

Operating Voltage 5V

Input Voltage 7 -12V

(Recommended)

Input Voltage (limit) 6 -20V

Digital I/O Pins 54 (of which 15 provide

PWM output)

Analog Input Pins 16

Flash Memory 256 KB of which 8 KB used

by bootloader

DC Current per I/O Pin 20ma

Table 2.1: Arduino Mega 2560 specification[4].

Figure 2.1 :Arduino Mega 2560[4].

2.4.2 Detection sensor

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We use two sensors, one for measuring the distance of an object and the other for distinguishing
specific points.

Infrared Distance sensor

IR circuits are designed on the triangulation principle for distance measurement. A

transmitter sends a pulse of IR signals which is detected by the receiver if there is an
obstacle and based on the angle the signal is received, distance is calculated.
It is a small electronic apparatus as shown in Figure 2.2, that measures and reveals
infrared rays, emitting in order to sense some aspects of the surrounding environment.
There are two parts of IR sensor: The emitter (IR LED) and a receiver (IR photodiode).
We use this piece to distinguish the start and end point.

Figure 2.2: Infrared Sensor[5].

Ultrasonic sensor
Is an electronic device as shown in Figure 2.3, that measures the distance of a target
object by emitting ultrasonic sound waves, and converts the reflected sound into an
electrical signal. That has two main components: the transmitter and the receiver.
Ultrasonic sensors provide fast response times which allow robots to respond quickly to
the changing environments around it. Also it has many specifications as presented in
Table 2.3.
This sensor can detect a wall up to 300 cm from the robot’s location by sending out a
pulse. Because the pulse travels at the speed of sound, the time between the pulse
being sent and received can be recorded, which allows the distance between the robot
and the wall to be calculated. This allows the robot to find longer and more effective
paths. On the other hand, there are limitations to only using the Infrared Distance sensor
for mapping distances, that it can only detect walls in close proximity to itself, so
ultrasonic sensors are more reliable than IR sensors in our project ,we will use three of
those left ,right ,straight sensors to discover if there is a wall and detect the path.

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 Supply voltage 5V

Global Current 15 mA

Ultrasonic Frequency 40 Hz

Maximal Range 400 cm

Minimal Range 3 cm

Resolution 1 cm

Trigger Pulse Width 10 μs

Outline Dimension 43x20x15 mm

Table 2.3: Ultrasonic sensor specification[5].

…..Figure 2.3: Ultrasonic sensor[6].

2.4.3 Motor driver

The motor driver L298 as shown in Figure 2.4, a type of H-Bridge, is an integrated circuit
chip used as a motor controlling device in autonomous robots and embedded circuits it
connects with the DC motors, used to control the direction of the motors depending on
the commands it receives from the controller. Motor driver receives signals from the
microprocessor and eventually, it transmits the converted signal to the motors.
Microprocessor output is low, and it cannot give enough power from its I/O pin to drive a
motor. To supply this voltage/current from microprocessor to the motor, we need this
Motor driver IC in between our motor and controller. Also it has some specifications
shown in Table 2.4.

Motor channels 2

Maximum operating 46 V
voltage

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max drive current 2A

Minimum logic voltage 4.5 V

Maximum logic voltage: 7V

Package 15 Multi Watt

Table 2.4:Motor driver specification[7].

Figure 2.4: Motor driver[7].

2.4.4 Two wheeled robot car kit

This car kit is the ideal base for the robotic project on an Arduino or Raspberry basis.
The chassis is made of acrylic and has many holes to mount components tightly, as
shown in Figure 2.5. It works with two motors which need a voltage between 3 to 9 Volt.
At the front is a caster wheel which is the third wheel. Through this design, it will be
possible for the robots to spin on the spot. Moreover, it has a battery compartment with a
switch which hugely supports the mobility of the robot.

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Figure 2.5: Two wheeled robot car kit[8].

2.4.5 Speed sensor module

An electronic piece as shown in Fig.2.6, used to calculate the distance when the robot
moves, it is connected with a wheels encoder, to count the holes found on the wheels
encoder, through the movement of the wheels. In addition, the module can be used in
association with a microcontroller for motor speed detection, pulse count, and position limit.

Figure 2.6: Speed sensor module[9].

2.5 System Software Component

The challenge in this robot and other robots is that it is impossible to know the state of
the real environment. Only robot control programs can guess the state of the real world
based on the measurements returned by its sensors, it can only try to change the state
of the real world control signals, so in real-world robots, the software that generates the
control signals is required to run at a very high speed and make complex computations.
This affects the choice of which robot programming languages are best to use, using
Arduino language that supports C/C++ is a very good compromise between execution

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speed and ease of development and testing. C/C++ is the more popular basic robot
programming languages also its syntax is very clear, there are many programming
languages such as python, which is a high-level, general-purpose programming
language and available for many operating systems, but because we need simple and
quick development tests or proof of concepts, so in our project, we will use Arduino
language to control and manipulate Arduino Mega 2560 microcontroller.

Chapter 3: Design

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Code:
#include<Servo.h>
Servo servo;
int pos = 0;
long time;

#define enA A0
#define enB A1
int M1_Speed = 128; // speed of motor 1

#define motora1 13
#define motorb1 12
#define motora2 7
#define motorb2 6
int max_speed = 140;
int setDistance = 7;
const int trigPin = 3;
const int echoPin = 4;

void setup() {

pinMode(enA,OUTPUT);
pinMode(enB,OUTPUT);
pinMode(motora1, OUTPUT);
pinMode(motorb1, OUTPUT);
pinMode(motora2, OUTPUT);
pinMode(motorb2, OUTPUT);

pinMode(trigPin,OUTPUT);
pinMode(echoPin,INPUT);

servo.attach(2);
servo.write(90);

Serial.begin(9600);
}

void loop() {
distance = getDistance();

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if (distance <= setDistance) {
// Stop();
// delay(200);
backward();
delay(200);
Stop();
lookRight();
if (leftDistance > rightDistance) //if left is less obstructed
{
Serial.println(" left");
left();
Stop();
}
else if (rightDistance > leftDistance) //if right is less obstructed
{
Serial.println(" Right");
right();
Stop();
}
else //if they are equally obstructed
{
turnAround();
}
}
else
{
forward(); // move forward
}

int getDistance() {
digitalWrite(trigPin,LOW);
delay(2);
digitalWrite(trigPin,HIGH);
delay(10);
distance = (duration*0.034/2);
return distance;
}

int lookLeft () {
//lock left
servo.write(144);
delay(500);
leftDistance = getDistance();

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 delay(100);
servo.write(90);
delay(100);
Serial.print("Left:");
Serial.print(leftDistance);
return leftDistance;
}

int lookRight() {
//lock right
servo.write(36);
delay(500);
rightDistance = getDistance();
delay(100);
servo.write(90);
delay(100);
Serial.print(" ");
Serial.print("Right:");
Serial.println(rightDistance);
return rightDistance;

void Stop() {
digitalWrite(motora1, LOW);
digitalWrite(motorb1, LOW);
digitalWrite(motora2, LOW);
digitalWrite(motorb2, LOW);
}
void forward() {
digitalWrite(motora1, HIGH);
digitalWrite(motorb1, LOW);
digitalWrite(motora2, HIGH);
digitalWrite(motorb2, LOW);

analogWrite(enA, max_speed);
analogWrite(enB, max_speed);
}

void backward() {
digitalWrite(motora1, LOW);
digitalWrite(motorb1, HIGH);
digitalWrite(motora2, LOW);
digitalWrite(motorb2, HIGH);

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}
void left() {
digitalWrite(motora1, LOW);
digitalWrite(motorb1, HIGH);
digitalWrite(motora2, HIGH);
digitalWrite(motorb2, LOW);

analogWrite(enA, max_speed);
analogWrite(enB, max_speed);
delay(300);
}
void right() {
digitalWrite(motora1, HIGH);
digitalWrite(motorb1, LOW);
digitalWrite(motora2, LOW);
digitalWrite(motorb2, HIGH);

analogWrite(enA, max_speed);
analogWrite(enB, max_speed);
delay(300);
}
void turnAround() {
digitalWrite(motora1, LOW);
digitalWrite(motorb1, HIGH);
digitalWrite(motora2, HIGH);
digitalWrite(motorb2, LOW);

analogWrite(enA, max_speed);
analogWrite(enB, max_speed);
delay(300);
}

Chapter 5: Validation and Testing

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5.1 Overview:
This chapter explains and describes the problems we faced and the results of the implementation of
the system of our project.

5.2.1 Motors test and connection

For testing the motor driver and the dc motor we connect it to the ground of the Arduino
microcontroller and with 9volt power supply, and connect the input1, input2 with the pins
of the Arduino microcontroller, then connect the dc motor with the output channel of it,
then we write Arduino code and run it. At first, the motor driver(L298N) lights up then the
dc motor starts rotating in one direction, when reversing the DC motor poles it rotates in
the other direction.

5.2.2 Ultrasonic test and connection

To test the ultrasonic sensor we connect the Echo and Trig pin with two pins of the
microcontroller, connect the ground and Vcc of the ultrasonic with the ground and 5-volt
pins of the microcontroller, and we write Arduino code and run it. We put an object in
front of each one of the ultrasonic, then measure the distance between them through the
sound wave. We found that the ultrasonic sensors help to keep a distance between the
robot and the other objects as walls.

Chapter 6: Conclusion
6.1 Overview
In this chapter, we conclude the challenges that we faced in our project and the final
results, in addition to the main goals that have been achieved, as well as future actions
that can be developed on this project.

6.2 Conclusion

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As a conclusion, the Left-Hand algorithm and LSRB algorithm has been implemented on
the robot in order to achieve the goals of this project which is designing and
programming a robot to find the path that connects the starting and ending points using
the Left-Hand algorithm, reaching all areas of the maze, storing these paths on the map,
and the robot saving it after that the robot calculates the distance covered by each path
and it has to determine the shortest distance to reach the end using LSRB algorithm, so
in the second round it goes directly through the shortest path and we design on the
condition that there is no loop in the maze. The proposed algorithms have low space
complexity, high performance, and provide an optimal solution to the maze.

6.3 Future Work

In the future, we will develop this robot to perform more complex operations such as solving a
maze that has a loop, in addition to participating in many competitions.

References

[1]”Modelling and Characterization of a Maze-Solving Mobile Robot Using Wall Follower

Algorithm ”.https://www.researchgate.net
[2]”Design and Implementation of a Robot for Maze-Solving using Wall Following
Algorithm”.https://ijsret.com/wpcontent/uploads
[3] ”Experimentation on the motion of an obstacle avoiding
robot”.https://arxiv.org/ftp/arxiv/papers/1907/1907
[4]Arduino mega 2560 specification.https://www.google.com/search?q=arduino+mega +2560
Arduino Mega.https://www.google.com/search?q=Arduino+Mega+2560&source

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[5]Infrared sensor. https://www.google.com/search?q=Infrared+Sensor
[6]Ultrasonic sensor.https: //components101.com/ ultrasonic-sensor
[7]Motor driver specification. https://www.pololu.com
Motor driver. https://www.amazon.com
[8] Two wheeled robot car kit. https://joy-it.net/en/products/robot05
[9] Speed sensor module. https:// www.amazon.com/ Optocoupler
[10]LSRB algorithm. https://medium.com/@TowardInfinity/coding-a-line-follower-robotusing
-lsrb-and-finding-the-shortest-path
[11]Arduino mega 2560 pins. https://www.google.com/search? q=arduino+mega+2560+ pins
[12]Connect IR sensor with microcontroller.https://www.researchgate.net/figure/nfrared Sensor-
interface
[13]Connect speed sensor module with microcontroller. https://www.google.com/search ?
q=speed+sensor+module

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