# Line maze

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Design a Line Maze Solving Robot
Teaching a Robot to Solve a Line Maze By Richard T. Vannoy II April 2009 RoboticsProfessor@gmail.com

What is a Line Maze?
A line maze is usually a black line on a white background. It could also be a white line on a black background, but for this presentation black lines on a whitebackground will be used.

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What is a Line Maze?
Each line maze has a Start point and a Finish point. The robot is expected to follow the lines and find it‟s way from Start to Finish in the fastest time possible.

Finish

Start

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What is a Line Maze?
The actualcourse can be fairly simple, as the maze on the left, or it can get very complicated.

Finish

Start

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What is a Line Maze?
The course on the right was designed with several long straight paths to give an advantage to a robot that knows when it can increase speed.

Start

Finish
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What is a Line Maze?
Notice that there are a number of dead-end paths in the maze. The robot typically cannot traverse the maze without first taking a number of wrong turns.

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Solving a Line Maze
This slide show will walk a robot hobbyist through the logic and procedure a robot needs to solve a line mazesuch as the one shown here.

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Left Hand Rule
For this presentation, the robot will always use the left hand rule, which means: 1. Always prefer a left turn over going straight ahead or taking a right turn. 2. Always prefer going straight over going right. If the maze has no loops, this will always get you to the end of the maze.8

Right Hand Rule
The right hand rule is just the opposite: 1. Always prefer a right turn over going straight ahead or taking a left turn. 2. Always prefer going straight over going left. If the maze has no loops, this will always get you to the end of the maze.

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It really doesn‟t matter. Both the left hand and the right hand rules will get you to the end of a simple maze. Which you select is purely a matter of personal preference. Just pick one and be consistant.
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Simple Maze
In the two mazes below, notice that: 1. The left hand maze has no loops. Using the lefthand (or right hand) rule will always get you to the end of the maze. 2. The right hand maze has several loops.

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Simple Maze
Notice the loops in the right hand maze.

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Simple Maze
Notice the loops in the right hand maze.

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Simple Maze
Notice the loops in the right hand maze.

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Simple Mazes Only
At the present time, this presentation does not address how to solve the maze below. This algorithm may be added at a future date.

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The 8 PossiblitiesGiven a maze with no loops, there are only 8 possible situations that the robot can encounter.

We‟ll come back to this in future slides.
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Line Sensors
• Line sensors can have a number of configurations. • This link Parallax.com has a great article using four sensors to solve a line maze. • This presentation will assume a...

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