The algorithm detects the various nodes in a maze formed with black lines using a line follower robot and then computes the best path for minimum turns from start to end point.
The embeded c code is in Arduino languge and can be directly dumped to any arduino software, also the various modules of codes are presented seperately for better understanding and integrating with other codes of the user
- IRRS Sensor Calibration The 6 IR Reflectance Sensors are used which give the intensity of black and white colour use Irrs_codes.ino for geting analog data and irrs_min_max.ino for calibrating the minimum and maximum intensity values which change according to the environment, thus making the robot an adaptable to all lighting conditions.
- Solving string path Use the maze_solve.ino for solving the string of turns made by the robot in the first time to compute the best path. For more info regarding the string and the alogorithm see https://www.pololu.com/file/0J195/line-maze-algorithm.pdf whre the robot can work in two ways while reading - right justified (Always turns right) or left. Two functions are there in the code the best function can be used acccording to the path given. A C language program is also written Nodes String Solver in C language.cpp for integration to other languages.
- Node Sensing and Inference Node_checking.ino can be used with just the sensors and the conditions for detection of nodes can be changed according to your positions the positions i used as shown in image Sensor_Positions.JPG, node_version_2.ino works with controling the motors as well this code slows down the speed when a node is approaching for better detection.
