CN104142684A - Maze searching method for miniature micromouse robot - Google Patents
Maze searching method for miniature micromouse robot Download PDFInfo
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- CN104142684A CN104142684A CN201410373103.2A CN201410373103A CN104142684A CN 104142684 A CN104142684 A CN 104142684A CN 201410373103 A CN201410373103 A CN 201410373103A CN 104142684 A CN104142684 A CN 104142684A
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Abstract
The invention relates to a maze searching method for a miniature micromouse robot. The maze searching method is characterized by including the steps that (1) maze map information is initialized; (2) it is assumed that a target point is a terminal point; (3) a contour map is built based on the target point, wherein contour lines in the contour map indicate that the numbers of steps of the miniature micromouse robot for finding the target point from a current maze box along the contour lines are the same; (4) when making a step towards the target point from the maze box with the current coordinates according to the contour map, the miniature micromouse robot obtains wall information of a maze box with the current coordinates through an analog infrared sensor installed on the miniature micromouse robot, and then the maze map information is updated according to the obtained wall information; (5) whether a reached supporting point is the target point or not is judged, if the reached supporting point is not the target point, the step (3) and the step (4) are repeated, and if the reached supporting point is the target point, the step (6) is executed; (6) a shortest path is extracted, and searching is completed.
Description
Technical field
The present invention relates to a kind of microcomputer mouse robot labyrinth searching method.
Background technology
Computer mouse, English Micromouse by name, is a kind of intelligent electromechanical robot that utilizes electronic devices and components to form.Computer mouse is a kind of system ensemble that integrates walking, perception, arbitration functions partly consisting of microprocessor, sensor and electromechanical movement in essence, and this system is mainly comprised of electronic installation, propulsion system and mechanical hook-up.The making of computer mouse combines many-sided knowledge such as machinery, electronics, control, motor, program design, optics and artificial intelligence, it has annotated wherein synthetic operation and the mating capability of each several part well, for studying and invent more complicated intelligent system, lays the foundation.
Computer mouse robot is a similar dolly in appearance, operates in the complex maze map that 16*16 lattice form, and by the multipair infrared sensor at front row, surveying whether three directions of computer mouse front left and right have can walking path.Barrier walking is searched for and kept away to computer mouse according to actual labyrinth information and by maze-searching algorithm, finally arrives the destination setting, and the route that can walk to it remembers and compare, and finally extracts an arrival the shortest path of used time, center, labyrinth.
Traditional infrared sensor detection method mainly adopts digital infrared sensor.This sensor, for whether existing barrier can only return to 0 or 1 simple digital signal, can not, for measuring computer mouse to the distance of barrier, cannot improve control accuracy and the accuracy of computer mouse.
Traditional maze-searching algorithm mainly contains
(1) lefft-hand rule: computer mouse, in traveling process, is met preferential selection the in fork in the road and turns left, and is secondly forward, to the right finally.
(2) right-hand rule: computer mouse, in traveling process, is met preferential selection the in fork in the road and turns right, and is secondly forward, left finally.
(3) left rule in: computer mouse, in traveling process, is met the preferential selection in fork in the road forward, is secondly left, to the right finally.
(4) right rule in: computer mouse, in traveling process, is met the preferential selection in fork in the road forward, is secondly to the right, left finally.
(5) rule of mutual attraction: terminal, at center, labyrinth, when running into fork in the road, preferentially selects labyrinth center position to advance.
Yet traditional maze-searching algorithm need to search for a large amount of labyrinths information or even all labyrinths information just can find one from the optimal path of origin-to-destination, and the function that does not possess prediction labyrinth information can cause computer mouse to enter blind alley waste having reduced search efficiency search time.Therefore the weak point that, traditional labyrinth searching method exists is mainly inefficiency, long operational time.
Summary of the invention
The object of the invention is to provide a kind of microcomputer mouse robot labyrinth searching method, can effectively improve search efficiency.
Realize the object of the invention technical scheme:
A microcomputer mouse robot labyrinth searching method, is characterized in that:
Step 1: labyrinth cartographic information initialization;
Step 2: hypothetical target point is terminal;
Step 3: based target point is set up circle of equal altitudes, the level line in circle of equal altitudes represents that the step number of computer mouse from current maze lattice along these contour threadings to target endpoint is identical;
Step 4: microcomputer mouse robot is according to circle of equal altitudes, while being taken a step forward to target endpoint by the maze lattice of current coordinate, computer mouse obtains the wall information of current coordinate maze lattice by simulation infrared sensor mounted thereto, then according to the wall information obtaining, upgrade labyrinth cartographic information;
Step 5: whether the fulcrum that judgement arrives is impact point, and if not, repeating step 3, step 4, if so, proceed to step 6;
Step 6: extract shortest path, complete search.
In step 3, set up by the following method circle of equal altitudes,
Step 3.1: set up the tabular array of 16*16 for storing the contour value of each coordinate; Labyrinth is comprised of 16*16 lattice, and each lattice has a unique coordinate;
Step 3.2: start to set up circle of equal altitudes from impact point; According to known labyrinth cartographic information, give the contour value assignment of impact point, judge whether impact point has advanceable direction in four direction up and down, can working direction if exist, the contour value of the labyrinth coordinate that computer mouse can be taken a step forward is made as the contour value of impact point and adds 1, the labyrinth coordinate that simultaneously can take a step forward, deposits in fulcrum queue for next step;
Step 3.3: take out a coordinate element from fulcrum queue, according to known labyrinth cartographic information, judge whether this coordinate element has advanceable direction in four direction up and down, can working direction if exist, the contour value of the labyrinth coordinate that computer mouse can be taken a step forward is made as the contour value of this coordinate element and adds 1, the labyrinth coordinate that simultaneously can take a step forward, deposits in fulcrum queue for the foundation of circle of equal altitudes next time;
Step 3.4: repeating step 3.3, until complete, set up labyrinth circle of equal altitudes.
In step 4, in microcomputer mouse robot, be provided with 4 groups of simulation infrared sensors, for surveying the wall information in computer mouse the place ahead, left, right-hand three directions, wherein 2 groups of simulation infrared sensors are used for surveying the place ahead wall information, 2 groups of simulation infrared sensors are respectively used to survey left, right-hand wall information, and it is 45 ° that the simulation infrared sensor of detection left, right-hand wall information arranges angle with the simulation infrared sensor of surveying the place ahead wall information; Every group of simulation infrared sensor is comprised of infrared light-emitting diode and infrared receiver triode.
In step 4, infrarede emitting diode transmitting infrared ray, the infrared ray that the reception of infrared receiver triode is returned by wall reflection, and output voltage signal to microprocessor, microprocessor is according to this voltage signal, obtain measuring distance, this measuring distance and threshold distance are compared, obtain the wall letter information of current coordinate.
The beneficial effect that the present invention has:
The present invention sets up circle of equal altitudes with impact point, and computer mouse advances according to circle of equal altitudes, by simulation infrared sensor, surveys wall information, upgrades labyrinth cartographic information, finally realizes labyrinth terminal search.The features such as it is high that searching method of the present invention has distance accuracy, and searching algorithm efficiency is high, applied widely, can accurately measure the wall in three directions of front left and right, and can effectively predict that large-scale closed region reduces unnecessary operation.
Accompanying drawing explanation
Fig. 1 is microcomputer mouse robot of the present invention labyrinth searching method process flow diagram.
Embodiment
As shown in Figure 1, microcomputer mouse robot of the present invention labyrinth searching method comprises the following steps:
Step 1: labyrinth cartographic information initialization;
Labyrinth is comprised of 16*16 lattice, and each lattice is provided with a unique coordinate.Labyrinth information is not known before operation by computer mouse robot, first in storer, set up a 16*16 for storing the tabular array of labyrinth cartographic information, and the initial value of each element is composed as 0x00 does not have wall for representing this map inside, all paths all communicate.
Step 2: establishing terminal is impact point;
In the present embodiment, the terminal of computer mouse robot operation is (7,7) coordinate points of labyrinth map.Computer mouse robot searches is put and is extracted one to terminal (7,7) and finished the work to the optimal path of terminal (7,7) by starting point (0,0).This terminal (7,7) is exactly the impact point of computer mouse robot operation.
Step 3: based target point is set up circle of equal altitudes, the level line in circle of equal altitudes represents that the step number of computer mouse from current maze lattice along these contour threadings to target endpoint is identical;
When computer mouse, search for unit, complete labyrinth or only searched for the part labyrinth from origin-to-destination, how the cell information material that storage has been passed by simultaneously, utilize these wall data to find out an optimal path, and the present invention has introduced distinctive circle of equal altitudes.Circle of equal altitudes is exactly contour map, the geographic coverage that can mark sustained height just like General maps is the same, circle of equal altitudes is used on the map of labyrinth, can mark each maze lattice and to impact point, equate the relation of step number, all can be readily solved in the outpost of the tax office of escaping with making a spurt of many closed paths after producing circle of equal altitudes, computer mouse is more easily searched, walk less some detours.
The method for making of circle of equal altitudes is divided into traditional with improved.The making of traditional circle of equal altitudes adopts depth-first algorithm (DFS), but time complexity and space complexity are all larger, can only be applicable to frequently not calculate traditional labyrinth searching method of circle of equal altitudes.Therefore because this searching method need to be set up circle of equal altitudes frequently, to setting up on operation time of circle of equal altitudes, very high requirement has been proposed.Yet traditional method of setting up circle of equal altitudes can not meet the requirement of imaginary method, in order to improve its real-time, the present invention improves, and comprises the following steps:
Step 3.1: set up the tabular array of 16*16 for storing the contour value of each coordinate, contour value is all composed as maximal value 0xff.
Step 3.2: start to set up circle of equal altitudes from impact point.The contour value of impact point (7,7) is made as to 0x01, according to known labyrinth information, judges whether impact point has advanceable direction in four direction up and down.If exist the contour value of the labyrinth coordinate that can working direction can take a step forward to be made as the contour value of impact point, to add 1 be 0x02, advanceable labyrinth coordinate deposited in fulcrum queue for next step simultaneously.
Step 3.3: take out a coordinate element from fulcrum queue, judge according to known labyrinth information whether this coordinate element has advanceable direction in four direction up and down.Can working direction if exist, the contour value of the labyrinth coordinate that can take a step forward, is made as the contour value of this coordinate element and adds 1.The labyrinth coordinate that meanwhile, can take a step forward deposits in fulcrum queue for the foundation of circle of equal altitudes next time.
Step 3.4: repeating step 3.3, after 16*16=256 time, just can set up out the circle of equal altitudes in full labyrinth.
Step 4: microcomputer mouse robot is according to circle of equal altitudes, judgement can working direction coordinate points contour value whether be less than the contour value of current coordinate, if, computer mouse is taken a step forward to target endpoint by the maze lattice of current coordinate, computer mouse obtains the wall information of current coordinate maze lattice by simulation infrared sensor mounted thereto simultaneously, according to the wall information obtaining, upgrade labyrinth cartographic information;
In step 4, in microcomputer mouse robot, be provided with 4 groups of simulation infrared sensors, for surveying the wall information in computer mouse the place ahead, left, right-hand three directions, wherein 2 groups of simulation infrared sensors are used for surveying the place ahead wall information, 2 groups of simulation infrared sensors are respectively used to survey left, right-hand wall information, and it is 45 ° that the simulation infrared sensor of detection left, right-hand wall information arranges angle with the simulation infrared sensor of surveying the place ahead wall information; Every group of simulation infrared sensor is comprised of infrared light-emitting diode and infrared receiver triode.
In step 4, infrarede emitting diode transmitting infrared ray, the infrared ray that the reception of infrared receiver triode is returned by wall reflection, and output voltage signal to microprocessor, microprocessor is according to this voltage signal, obtain measuring distance, this measuring distance and threshold distance are compared, obtain the wall letter information of current coordinate.Before the operation of microcomputer mouse robot, the digital quantity of voltage and actual distance value have been carried out demarcating and data being deposited into the form of array list the internal memory of microprocessor.When microcomputer mouse robot moves, by the range data table of having demarcated in internal memory, can table look-up and obtain actual measuring distance.Last and threshold distance compares the wall information that obtains this coordinate, as actual range be greater than threshold distance this direction there is no wall, otherwise have wall.
Step 5: whether the fulcrum that judgement arrives is impact point, and if not, repeating step 3, step 4, if so, proceed to step 6;
Step 6: extract shortest path, complete search.
Claims (4)
1. a microcomputer mouse robot labyrinth searching method, is characterized in that:
Step 1: labyrinth cartographic information initialization;
Step 2: hypothetical target point is terminal;
Step 3: based target point is set up circle of equal altitudes, the level line in circle of equal altitudes represents that the step number of computer mouse from current maze lattice along these contour threadings to target endpoint is identical;
Step 4: microcomputer mouse robot is according to circle of equal altitudes, while being taken a step forward to target endpoint by the maze lattice of current coordinate, computer mouse obtains the wall information of current coordinate maze lattice by simulation infrared sensor mounted thereto, then according to the wall information obtaining, upgrade labyrinth cartographic information;
Step 5: whether the fulcrum that judgement arrives is impact point, and if not, repeating step 3, step 4, if so, proceed to step 6;
Step 6: extract shortest path, complete search.
2. microcomputer mouse robot according to claim 1 labyrinth searching method, is characterized in that: in step 3, set up by the following method circle of equal altitudes,
Step 3.1: set up the tabular array of 16*16 for storing the contour value of each coordinate; Labyrinth is comprised of 16*16 lattice, and each lattice has a unique coordinate;
Step 3.2: start to set up circle of equal altitudes from impact point; According to known labyrinth cartographic information, give the contour value assignment of impact point, judge whether impact point has advanceable direction in four direction up and down, can working direction if exist, the contour value of the labyrinth coordinate that computer mouse can be taken a step forward is made as the contour value of impact point and adds 1, the labyrinth coordinate that simultaneously can take a step forward, deposits in fulcrum queue for next step;
Step 3.3: take out a coordinate element from fulcrum queue, according to known labyrinth cartographic information, judge whether this coordinate element has advanceable direction in four direction up and down, can working direction if exist, the contour value of the labyrinth coordinate that computer mouse can be taken a step forward is made as the contour value of this coordinate element and adds 1, the labyrinth coordinate that simultaneously can take a step forward, deposits in fulcrum queue for the foundation of circle of equal altitudes next time;
Step 3.4: repeating step 3.3, until complete, set up labyrinth circle of equal altitudes.
3. microcomputer mouse robot according to claim 2 labyrinth searching method, it is characterized in that: in step 4, in microcomputer mouse robot, be provided with 4 groups of simulation infrared sensors, for surveying the wall information in computer mouse the place ahead, left, right-hand three directions, wherein 2 groups of simulation infrared sensors are used for surveying the place ahead wall information, 2 groups of simulation infrared sensors are respectively used to survey left, right-hand wall information, and it is 45 ° that the simulation infrared sensor of detection left, right-hand wall information arranges angle with the simulation infrared sensor of surveying the place ahead wall information; Every group of simulation infrared sensor is comprised of infrared light-emitting diode and infrared receiver triode.
4. microcomputer mouse robot according to claim 3 labyrinth searching method, it is characterized in that: in step 4, infrarede emitting diode transmitting infrared ray, the infrared ray that the reception of infrared receiver triode is returned by wall reflection, and outputing voltage signal to microprocessor, microprocessor, according to this voltage signal, obtains measuring distance, this measuring distance and threshold distance are compared, obtain the wall information of current coordinate.
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Cited By (6)
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| CN106873603A (en) * | 2017-04-17 | 2017-06-20 | 成都信息工程大学 | Computer mouse intelligence vehicle control and control method based on Zynq platforms |
| CN107423360A (en) * | 2017-06-19 | 2017-12-01 | 广东中冶地理信息股份有限公司 | A kind of labyrinth method for solving based on path center line |
| CN108460500A (en) * | 2018-05-04 | 2018-08-28 | 成都信息工程大学 | Based on the optimum path planning method for improving Flood-Fill algorithms |
| CN113721628A (en) * | 2021-09-03 | 2021-11-30 | 天津工业大学 | Maze robot path planning method fusing image processing |
| CN114082206A (en) * | 2020-08-24 | 2022-02-25 | 天津工业大学 | Oblique sprint system for computer mouse |
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| CN108460500A (en) * | 2018-05-04 | 2018-08-28 | 成都信息工程大学 | Based on the optimum path planning method for improving Flood-Fill algorithms |
| CN114082206A (en) * | 2020-08-24 | 2022-02-25 | 天津工业大学 | Oblique sprint system for computer mouse |
| CN113721628A (en) * | 2021-09-03 | 2021-11-30 | 天津工业大学 | Maze robot path planning method fusing image processing |
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