Ultrasonic sensor decision-making algorithm for mobile robot motion in maze environment

Hind Zuhair Khaleel, Bashra Kadhim Oleiwi


An autonomous mobile robot is one that can move from one location to another without the intervention of a human. A maze environment is a complex environment since it contains many obstacles and the major problem is moving through it. To avoid obstacles while moving through the maze, the mobile robot must be designed with an algorithm. This work proposes a decision-making system with an ultrasonic sensor to allow the developed autonomous mobile robot to avoid obstacles in any maze setting through its movements. The maze was designed with a size of 100×200 cm2 for the case study. Due to the height dimension of the barrier (20 cm) and the height dimension of the mobile robot including the ultrasonic sensor (20 cm), a distance of 20 cm was taken between the wall (obstacle) and the sensor. The result distance between the (wood wall) object and the sensor indicates that it is a reasonable distance chosen for the mobile robot to move and turn with flexibility as it travels through the maze environment from 0 cm to 300 cm. This mobile robot path took 1 minute to finish at a speed of 5 cm/sec, indicating that it is a quick algorithm as compared with related work.


Arduino; Maze environment; Mobile robot; Obstacle avoidance; Path planning

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DOI: https://doi.org/10.11591/eei.v13i1.6560


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Bulletin of Electrical Engineering and Informatics (BEEI)
ISSN: 2089-3191, e-ISSN: 2302-9285
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).