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Maze

A maze is a structure made of can arrays, which has one entry and one exit. The Swan robot enters the maze through the entry and, after exhaustive search, is expected to get out of the maze through the exit. We use only T intersections in a maze. Each path segment in the maze has a width of about 2 feet or 60 cm.

Watch the video, Left-Handed Maze. Notice the smooth turns at each intersection. In this specific maze-function execution, MotionMind/Swan adopts the left-handed rule; namely, at each intersection, Swan always tries the leftmost branch first. See the trajectory.

The robot executes a special "flip" turn at each dead end. A simpler spinning motion cannot be used here, because of a small path width.

In the Right-Handed Maze video, Swan works on a similar maze with the right-handed rule. See the trajectory.

Actually, the following more general rule works for solving a maze: when Swan comes back to an intersection second time, Swan select the branch other than the first. As long as this basic rule is followed, the first branch can be taken arbitrarily. We could even select the first branch using a random number.

If and when the Educational/Research Robots, MME, are produced, we can supply self-standing maze units of a uniform size of 24 (L) and 6 (H) inches. Then a maze with an arbitrary complexity can be easily constructed.

 
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