A pipeline framework for robot maze navigation using computer vision, path planning and communication protocols

Abstract

Maze navigation is a recurring challenge in robotics competitions, where the aim is to design a strategy for one or several entities to traverse the optimal path in a fast and efficient way. To do so, numerous alternatives exist, relying on different sensing systems. Recently, camera-based approaches are becoming increasingly popular to address this scenario due to their reliability and given the possibility of migrating the resulting technologies to other application areas, mostly related to human-robot interaction. The aim of this paper is to present a pipeline methodology towards enabling a robot solving maze autonomously, by means of computer vision and path planning. Afterwards, the robot is capable of communicating the learned experience to a second robot, which then will solve the same challenge considering its own mechanical characteristics which may differ from the first robot. The pipeline is divided into four steps: (1) camera calibration (2) maze mapping (3) path planning and (4) communication. Experimental validation shows the efficiency of each step towards building this pipeline.