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Ibra Wendi S
Politeknik Negeri Batam
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Sistem Robot Micromouse Menggunakan Algoritma Flood-Fill dan Back tracking Muhammad Jaka Wimbang Wicaksono; Agung Kusyairi Abdillah; Muhammad Bayu Artha; Ibra Wendi S
JURNAL INTEGRASI Vol. 18 No. 1 (2026): Volume 18, Nomor 1, April 2026
Publisher : Pusat Penelitian dan Pengabdian Masyarakat Politeknik Negeri Batam

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30871/ji.v18i1.12944

Abstract

A micromouse robot is an autonomous robot designed to navigate mazes and find the shortest path to a destination point. This research aims to design a micromouse robot software system using a flood-fill algorithm that can move without touching the walls and determine the direction and angle of rotation when encountering a dead end. The system uses an Arduino Nano as a microcontroller, infrared sensors for wall detection, DC motors with rotary encoders, and a 2-channel motor driver, with a maximum robot dimension of 16.8 cm × 16.8 cm. The software implementation uses a Breadth-First Search (BFS)-based flood-fill algorithm for optimal path mapping, a 6-state state machine to regulate execution flow, Proportional-Derivative (PD) control with parameters Kp = 2.0 and Kd = 0.05 for movement stability, and trapezoidal velocity profiling for smooth movement. Test results show that the robot can complete a 4×4 maze in an average of 45 seconds, with position accuracy of ±5 mm and an angle deviation of less than 2 degrees. The PD control system provides a responsiveness of 32 ms, and velocity profiling reduces wheel slip by up to 90% and increases energy efficiency by 25%. This research contributes to the development of mobile robot technology and robotics learning media.
Co-Authors Agung Kusyairi Abdillah Muhammad Bayu Artha Muhammad Jaka Wimbang Wicaksono