Optimal path planning method based on improved Flood-Fill algorithm

Abstract

The invention discloses an optimal path planning method based on an improved Flood-Fill algorithm. The optimal path planning method based on the improved Flood-Fill algorithm comprises the following steps: determining the connectivity between labyrinth grids based on labyrinth wall information acquired by a labyrinth search algorithm, updating a distance code value from a start point to an end point of the labyrinth grids, and completing the solution of a labyrinth optimal path; determining the connectivity between the labyrinth grids by using the labyrinth wall information acquired by the labyrinth search algorithm, updating the distance code value from the start point to the end point of the labyrinth grids, and completing the solution of an optimal path after labyrinth exploration. Thesimulation and experimental results show that compared with the traditional classical Flood-Fill labyrinth search algorithm, the algorithm not only can accurately find the optimal path of the labyrinth after search, but also can improve the algorithm execution speed by 20 to 50 times and save the average operation time by 10 to 500 milliseconds.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to an optimal path planning method based on an improved Flood-Fill algorithm. Background technique [0002] "Computer mouse", the English name MicroMouse, is a small automatic wheeled intelligent robot composed of embedded microprocessors, sensors and motors. IEEE holds an international computer mouse maze competition every year. According to the computer mouse maze competition rules formulated by the International Institute of Electrotechnical and Electronic Engineering (IEEE), the computer mouse needs to walk by itself in an unknown maze composed of 16×16 cells of 18cm×18cm in size, search for information inside the maze and find the starting point of the maze The path to the end, from the start to the end of the maze as quickly as possible. In the competition, the computer mouse needs to complete the solution of the maze path, which specifically includes ...

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Problems solved by technology

[0004] The purpose of the present invention is to provide an optimal path planning method based on the improved Flood-Fill algorithm, aiming at solving the problem of the existence of a large number of meaningless calculation operations and data transfers in the current computer mouse algorithm for solving the optimal path from the start point to the end point of the maze , wasting system resources, hardware system resource consumption is more and the shortest path solution and judgment cannot be realized

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