As part of a Mechatronics Principles course, my team and I built a rover with the purpose of autonomously solving a line-based maze. The rover was built on atop an Arduino platform and included a variety of sensors to help it navigate through the maze.
The rover was armed with an array of 6 IR reflective sensors to detect the lines, an ultrasonic sensor to detect obstacles and was driven by 2 Pololu micro metal gearmotors. The rover was guided by a custom maze solving algorithm that utilized state machines in addition to parts of the popular wall follower algorithm.
The maze included 2 checkpoints, similar to the one seen on the right, and one of the rover's tasks was to find both the checkpoints. The rover was equipped with top facing IR receivers to detect the transmissions from the checkpoint.
The maze included a number of complex intersections which the rover had to negotiate effectively. The bottom facing IR reflective sensor array was used to detect the line at all times. Once the rover detected the presence of an intersection, it would take an additional "inch" forward to determine the type of intersection before decided which path to take.
For the MazeRunner code and view of some of my other projects click the icon above.