Locomotion by Shortest Path and Obstacles Avoidance

This paper aims to deliver movement of the robot by finding and traversing the shortest path in the static present grid, using source and destination positions entered by the user. The robot currently requires a grid since it traverses space using line-tracing. Further addition to the functioning - the robot avoids static obstacles which might be present in its path towards destination. A microcontroller (AtMega2560) was used as an interface between the hardware and our software program. The robot used was Firebird V. For line-tracing, infrared LEDs (transmitters) and photodiodes (receivers) present on the robot were used. The popular Dijkstra's algorithm had been incorporated in our shortest-path follower code. The language used for programming is AVR.