Solving Mazes using Dijkstra's Alogrithm - TurtleBot

By Tiffany Yu and Emily Cai

Using ROS and a turtlebot, we implemented Dijkstra's algorithm to the problem of solving different mazes. The map of the maze and the robot's starting point are given to the program and the most efficient solution is found then executed by the robot. Starting code was provided by Professor Matt Zucker.

maze.py

This codes a simple module to store and query 2D mazes with grid-aligned walls. Also contains the implementation of the Dijkstra's algorithm under the function find_path. The function path_to_command translates the results from the algorithm into specific commands for the TurtleBot.

main.py

Code that connects the algorithm to the Turtlebot. This code contains the specifics of the movement of the robot which is implemented so that robot has gradual acceleration and deceleration and can align itself through detection of the difference between the distance between the two walls. Calls on maze.py and executes the solution.

Result video: https://youtu.be/w8moK-M8WvU