A potential maze solving algorithm for a micromouse robot

Discretely assigned potential levels can be effectively used in making autonomous route decisions for a mobile robot to reach a goal. This paper demonstrates methods of assigning and manipulating these artificial potentials to provide locally optimized path choices while maintaining the integrity of the potentials. The basic algorithm is improved by retaining information of the number of decisions that have been made. Results from implementation and simulation of the algorithm for a micromouse maze-solving robot are presented. Consideration is given to implementation using a limited power microprocessor.