What it does
Solves mazes by following the right wall of the maze.
How we built it
We built this using Arduino with a PID controller. This ensured that we can accurately turn and travel straight down to the degree. An ultrasonic distance sensor was used to locate walls around us and used an IMU to obtain orientation in space.
Challenges we ran into
PID controllers are confusing. Traveling straight in differential systems is difficult. We had a lot of trouble wrapping our minds around quaternions in trying to justify our algorithm to the robot. We had a lot of trouble tuning our parameters and ensuring our robot is consistent.
Accomplishments that we're proud of
We're really proud that we were able to utilize a PID controller and that the robot can account for errors throughout the maze.
What we learned
We learned a lot about PID controllers, quaternions, maze solvers, and more.
What's next for Maze Solver
Our immediate action items would be testing on more mazes to ensure consistency. We would also like to speed up the code and make sharper left turns.
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