Optimizing Robot Maze Navigation: A Novel Control Algorithm for Enhancing Energy Efficiency

International Journal of Electrical and Electronics Engineering

© 2024 by SSRG - IJEEE Journal

Volume 11 Issue 7

Year of Publication : 2024

Authors : Thi-Mai-Phuong Dao, Tien-Dung Nguyen, Thi-Duyen Bui, Quoc-Hoan Tran, Van-Tien Nguyen, Ngoc-Khoat Nguyen

10.14445/23488379/IJEEE-V11I7P118

How to Cite?

Thi-Mai-Phuong Dao, Tien-Dung Nguyen, Thi-Duyen Bui, Quoc-Hoan Tran, Van-Tien Nguyen, Ngoc-Khoat Nguyen, "Optimizing Robot Maze Navigation: A Novel Control Algorithm for Enhancing Energy Efficiency," SSRG International Journal of Electrical and Electronics Engineering, vol. 11,  no. 7, pp. 208-214, 2024. Crossref, https://doi.org/10.14445/23488379/IJEEE-V11I7P118

Abstract:

Robots designed for maze-solving tasks often rely on simple pathfinding strategies, such as consistently following the left or right wall. While effective in basic mazes, these approaches can become inefficient and energy-intensive for more intricate layouts. In the most critical scenario, a robot depleted of energy could become trapped within the maze, rendering its mission unsuccessful. This paper addresses this challenge by introducing a novel algorithm for navigating mazes with the objective of finding the shortest path to the exit. This algorithm goes beyond traditional wall-following methods, aiming to optimize energy consumption and navigation efficiency. Additionally, the paper explores the integration of a PID control algorithm to enhance the robot's movement precision within the maze environment. By maintaining a straight line, when possible, the robot can further minimize unnecessary movements and enhance its overall performance. This work contributes to the field of robotic maze-solving by proposing a more sophisticated pathfinding approach that prioritizes energy conservation and efficient navigation. Furthermore, the implementation of a PID control algorithm allows for improved trajectory control, leading to more precise movements within the maze.

Keywords:

Maze solving, Robots, Energy efficiency, Optimization, PID.

References:

[1] Shatha Alamri et al., “Autonomous Maze Solving Robotics: Algorithms and Systems,” International Journal of Mechanical Engineering and Robotics Research, vol. 10, no. 12, pp. 668-675, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[2] Kuo-Chi Chang et al., “Shortest Distance Maze Solving Robot,” 2020 IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS), Dalian, China, pp. 283-286, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[3] Rares Covaci, Gabriel Harja, and Ioan Nascu, “Autonomous Maze Solving Robot,” 2020 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR), Cluj-Napoca, Romania, pp. 1-4, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[4] Rahul Kumar et al., “Maze Solving Robot with Automated Obstacle Avoidance,” Procedia Computer Science, vol. 105, pp. 57-61, 2017.
[CrossRef] [Google Scholar] [Publisher Link]
[5] Shatha Alamri et al., “An Autonomous Maze-Solving Robotic System Based on an Enhanced Wall-Follower Approach,” Machines, vol. 11, no. 2, pp. 1-17, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[6] A. Bemporad, M. Di Marco, and A. Tesi, “Wall-Following Controllers for Sonar-Based Mobile Robots,” Proceedings of the 36th IEEE Conference on Decision and Control, San Diego, USA, vol. 3, pp. 3063-3068, 1997.
[CrossRef] [Google Scholar] [Publisher Link]
[7] Irina Cojuhari, “Algorithm for Self-Tuning the PID Controller,” Journal of Engineering Sciences, vol. 28, no. 4, pp. 63-73, 2021.
[CrossRef] [Google Scholar] [Publisher Link]
[8] Swati Mishra, and Pankaj Bande, “Maze Solving Algorithms for Micro Mouse,” 2008 IEEE International Conference on Signal Image Technology and Internet Based Systems, Bali, Indonesia, pp. 86-93, 2008.
[CrossRef] [Google Scholar] [Publisher Link]
[9] Min Raj Nepali et al., “A Novel Wall Following Algorithm for Mobile Robots,” International Journal of Robotics and Automation, vol. 5, no. 2, pp. 15-23, 2014.
[Google Scholar] [Publisher Link]
[10] Xin Wei et al., “A Wall-Following Algorithm Based on Dynamic Virtual Walls for Mobile Robots Navigation,” 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR), Okinawa, Japan, pp. 46-51, 2017.
[CrossRef] [Google Scholar] [Publisher Link]
[11] Mohammad O.A. Aqel et al., “Intelligent Maze Solving Robot Based on Image Processing and Graph Theory Algorithms,” 2017 International Conference on Promising Electronic Technologies (ICPET), Deir El-Balah, Palestine, pp. 48-53, 2017.
[CrossRef] [Google Scholar] [Publisher Link]
[12] Hind Zuhair Khaleel, and Bashra Kadhim Oleiwi, “Ultrasonic Sensor Decision-Making Algorithm for Mobile Robot Motion in Maze Environment,” Bulletin of Electrical Engineering and Informatics, vol. 13, no. 1, pp. 109-116. 2024.
[CrossRef] [Google Scholar] [Publisher Link]
[13] Indar Sugiarto, Lauw Lim Un Tung, and Mohammad Ismail Rahman, “Implementation of Fuzzy Logic in FPGA for Maze Tracking of a Mobile Robot Based on Ultrasonic Distance Measurement,” Jurnal Teknik Elektro, vol. 9, no. 1, pp. 96-102, 2010.
[Google Scholar] [Publisher Link]
[14] Bot Reboot, Line Follower Robot with PID controller, hackster.io, 2020. [Online]. Available: https://www.hackster.io/anova9347/line-follower-robot-with-pid-controller-cdedbd
[15] Shijie Guo, “PID Control Based on Machine Learning Algorithm in Robot Path Optimization,” Proceedings of the 2023 International Conference on Mechatronics and Smart Systems, vol. 12, pp. 284-291, 2023.
[CrossRef] [Publisher Link]
[16] Rongchang Liu, “Research on Control and Optimization of Robot’s Bottom Action Based on PID Algorithm,” 2023 International Conference on Power, Electrical Engineering, Electronics and Control (PEEEC), Athens, Greece, pp. 699-703, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[17] Abdullah Al Mamun Khan et al., “Design and Implementation of a Robot for Maze-Solving with Turning Indicators Using PID Controller,” 2013 International Conference on Informatics, Electronics & Vision (ICIEV), Dhaka, Bangladesh, pp. 1-6, 2013.
[CrossRef] [Google Scholar] [Publisher Link]