This project was done for participating in International Micromouse Competition organized by TechFest2019-20 at IIT Bombay. It is the furtherance of the Tremaux algorithm by employing a potential value algorithm in conjunction, with improving search in a micromouse. The fused algorithm running on the STM32 Bluepill microcontroller explores and finds the shortest path in a 16x16 maze. Proximity sensors, gyroscope, and magnetometer together with encoder motors aid the micromouse to understand its surrounding hindrances and make precise movements while traversing through a maze. The optimized algorithm eliminates any paths that may lead the micromouse further away from the center of the maze during the initial run itself and saves a significant amount of time while solving a maze.
Here are the three different versions of micromouse designed and fabricated. The bot at the center was used during the IMC-2020.
You can find our publication here.
@article{rijalinternational,
title={Optimizing Tremaux Algorithm in Micromouse Using Potential Values},
journal={International Journal of Advanced Engineering},
author={Rijal, Sanjay and Nepal, Rabin and Lwagun, Rhimesh and Pati, Rohit and Bhatta, Janardan},
volume={3},
issue={2},
year={2020}
}