Implementation of the Bresenham's Algorithm on a Four-Legged Robot to Create a KRPAI Arena Map

Kontes Robot Pemadam Api Indonesia (KRPAI) is a division of the Robot Competition in Indonesia whose mission is to extinguish fires according to the rules of the Trinity College International Fire Fighting Robot Contest (TCIFFRC) in Hartford, United States. The robot is placed in one of the 4 rooms randomly and is required to find a fire then extinguish it and return to the room where the robot is placed. The ability of robots to be able to carry out missions perfectly often fails because of the disturbance of obstacles in the room, do not know the pose of the robot when outside the room. A map is very important so that the robot knows its position in space and the distance of the robot from obstacles. Therefore, the focus of this research is not only on simulations but also on direct map-making to dynamically moving four-legged robots. The odometry method on the four-legged robot is used for routing and localization algorithms in making maps. Bresenham's algorithm is implemented in the map creation process. The results of the test and analysis show that a 1 mm grid map to a 5 mm grid map can describe parabolic-shaped obstacles, and the average error cell value for corridors, door widths, and walls is 0.92 cells.