About the project

Maze is a C library that is capable of scanning a complex maze and find the shortest path to end using Dijkstras algorithm. It can function independently as well as on any simulator or hardware. The same has been used to simulate a line follower robot on Coppeliasim ( VREP ) using its legacy remote API in C.

Code

src -> contains the maze library, vrep C API code and api libraries

vrep_scenes -> contains coppeliasim scenes

Getting Started

Prerequisites

• Coppeliasim
• GNU make

Build

If your vrep executable is in the default location

Windows 10: C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu

Ubuntu 16.04: ~/CoppeliaSim_Edu_V4_0_0_Ubuntu16_04/

$ make all

If the path is different

$ make all VREPPATH=<path> 

path must be in double quotes if it contains space characters

Usage

• Library

  1. src/maze.c is the core library implementing the maze solving algorithm.
  2. src/maze.h has all the implementation details.

• Simulation

  1. Open the Coppeliasim scenes from vrep_scenes.
  2. Press the run button.
  3. The bot starts scanning the maze and stops when scanning is complete
  4. When the bot stops, press pause button and move the bot to its initial position.
  5. Press the play button again.
  6. The bot now moves by the shortest path to the end point.