new microsoft office power point presentation
TRANSCRIPT
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CENTER FIRST ROUTING THEOREM
BY: Ayush Dewan
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ABSTRACT
• Algorithm is developed for Micromouse routing
in maze. • In the algorithm, a Center-First-Theorem is
applied to find out several short roads in maze, then the shortest road can be find out among those roads by comparing with each other.
• In practice, it is proved that this algorithm can reduces error execution and improves efficiency.
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MICROMOUSE
IEEE micro-mouse is maze routing competition .
It has a center, which is the destination cell for the Micromouse.
The robot has to search the entire maze and find the path that it can travel in the shortest possible time.
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MICROMOUSE RULES
The robot must be completely autonomous.
The robot must reach the center in the least possible time.
No external power source is allowed.
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MAZE SPECIFICATIONThe maze in the Micromouse competition consists of multiples of an 18cmx18cm square.
It consists of 16x16unit squares .
The walls of the maze are 5 cm high and 1.2 cm thick
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MICROMOUSE HARDWARE
• Chassis• Microcontroller• Sensors: Analog or Digital• EEPROM• Motor: DC or Stepper• Motor Driver• Power Supply• LCD
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MICROMOUSE SOFTWARE
The Logic Layer: Consist of logic code that would help the robot decide which cell to move towards on the basis of the sensor data that it received
The Motion Layer: It is comprised of Code that controls the motion of the robot.
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CENTER FIRST ROUTING THEOREM ALGORITHM
DETERMINE SEVERAL SHORT PATHS TOWARDS CENTER.
COUNT NUMBER OF STEPS AND STORE COORDINATE INFORMATION FOR EACH PATH IN A MATRIX.
COMPARE EACH PATH AND SELECT THE SHORTEST PATH.
TRAVEL THE SHORTEST PATH WITH FASTEST POSSIBLE SPEED.
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MAZE INFORMATION
• FOUR POSSIBLE PATHS ARE:– CUL DE-SAC
– STRAIGHT
– CROSSROAD
– T SHAPED ROAD
– TURNING
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MAZE INFORMATION• ONE BYTE IS USED TO STORE MAZE INFORMATION FOR EACH CELL.
BIT 3 2 1 0
DIRECTION NORTH(U) WEST(L) SOUTH(D) EAST(R)
BIT 5 4NO CUL DE- SAC 1 11 CUL DE-SAC 0 12 CUL DE-SAC 1 0
BIT 7 6
1 SIDE TO GO 0 0
T SHAPED ROAD 0 1
CROSS ROAD 1 0
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Recording coordinate and information of maze’s cell.
• The information of cell is recorded in a matrix whose name is maze and size is 15×15.
• Register named Dir to recording the direction. DIR DIRECTION
0 NORTH: Y++
1 EAST: X++
2 SOUTH: Y--
3 WEST: Y++
•The original location of micro-mouse is (0, 0), and the routing direction is north.
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Recording coordinate and information of maze’s cell.
DIRECTION CALCULATIONLEFT -1RIGHT +1TURNING BACK FROM LEFT -2TURNING BACK FROM RIGHT +2
•VALUE OF DIR IS BETWEEN 0 AND 3.•FORMULA FOR CALCULATING COORDINATE:
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CUT CUL DE -SAC• When micro-mouse makes a back turning (means there is a cul-de-sac),
both turning back from left and from right, making a marker in a register whose name is noroad ,with the value of 1 means there is a cul-de-sac while 0 is no.
• Set values of all cells to FFH, which belong to the cul-de-sac between the end of it and the crossing cell nearest to it.
• Then ,marker of this direction of the nearest crossing cell is set to 1 to prevent micro-mouse from selecting this direction when it goes here again.
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Implementation Of CFRT
In consideration of the information stored in the register Dir , micro-mouse selects a direction to go.
If it has only one direction to go, it doesn’t make choice but just go by this direction.
For a crossing, it chooses the direction pointing to the end.
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CALCULATION OF DIR
Dn-1: Former Cell
Dn= Present cell
Where, m = (-2, -1, 0, 1, 2),
At the same time, it uses a times register named times (original value is 0) to alternate priority of direction x++ and y++ between
Two adjacent road junctions. The value 0 means y++ first and 1 means x++ first.
Dn=dn-1 + m
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SHORTEST PATH
• Newroad[]: coordinates of present path.• Short road[]: coordinate of the route searched
out at first time.• Steps are calculated using th formula:
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ROUTING BY CFRT
s =25+7× 0.5=28.5
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ROUTING BY CFRT
s =23+7 × 0.5=26.5
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SPRINT
After we got the shortest road, sprint is the key to win the game.
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COMPARISON WITH OTHER ALGORITHMS
• Left-right-straight algorithm(LRSRT): Left side’s priority is first,
right is secondary, and straight is last.• Left-straight-right algorithm (LSRRT)• Right-left-straight algorithm (RLSRT) • Right-straight left algorithm (RSLRT) • Straight-left-right algorithm(SRLRT) • Straight-right-left algorithm (SLRRT)• Random algorithm (RRT): Each side’s priority is same and
which side to choose is random.
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COMPARISON WITH OTHER ALGORITHMS
LRSRT LSRRT RLSRT RSLRT SLRRT
SLRRT SRLRT
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CONCLUSION
• By analyzing in theory and carrying it out in practice, we conclude that Center First Routing algorithm can avoid a lot of work in information recording, repairing and managing, and can improve efficiency. At the same time, it makes the
• Programming of route searching become easily and reduces error execution in practice.