lares (version 5.2.13)

maze_solve: Maze Solver, inspired by Micromouse competitions

Description

Modified recursive depth-first search (DFS) algorithm to solve mazes. It explores the maze by recursively moving to adjacent cells until it finds a path from the starting point to the destination. Contains options to maximize paths by trying to turn less, allowing diagonal turns, prioritizing turns that chooses next step pointing towards the end point, and a grid search combining parameters to find best route.

Usage

maze_solve(
  maze,
  start = c(1, 1),
  end = dim(maze),
  inertia = FALSE,
  aim = TRUE,
  diagonal = TRUE,
  random = FALSE,
  timeout = 4,
  quiet = FALSE,
  seed = NULL,
  ...
)
# S3 method for maze_solve
print(x, ...)
maze_gridsearch(
  maze,
  start = c(2, 2),
  end = round(dim(maze)/2),
  quiet = TRUE,
  seed = 123,
  ...
)

Value

List with data.frame containing solved solution, data.frame with path coordinates and directions, steps counter and turns counter.

Arguments

maze

Matrix. Using 0 for open space and 1 for walls.

start, end

Integer vector, length 2. Start and end coordinates.

inertia

Boolean. When enabled, algorithm will check for new directions only when impossible to continue in a straight line.

aim

Boolean. When enabled, algorithm will try first the directions closer to the end point, ranked and sorted by shorter distances.

diagonal

Boolean. When enabled, algorithm will have 8 degrees of freedom to move, if not, only 4 (up, down, left, right).

random

Boolean. When enabled, algorithm will pick next direction randomly.

timeout

Numeric. How many seconds set for timeout to force algorithm to stop trying new paths?

quiet

Boolean. Keep quiet? If not, show messages

seed

Numeric. Seed to replicate random results.

...

Additional parameters passed to corr

x

maze_solve object

Examples

micromouse <- matrix(c(
  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
  1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1,
  1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1,
  1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1,
  1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1,
  1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1,
  1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1,
  1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1,
  1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1,
  1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1,
  1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1,
  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
), nrow = 12, byrow = TRUE)
maze_solve(micromouse, start = c(2, 2), end = c(7, 7))