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#Any maze software copy licence simulator
#Any maze software copy licence download
#Any maze software copy licence windows

Classic paper says setting the start point, not target point as zero. This is a partial weightage map (full map is too big to be shown) which all other cells in the map, other than the destination, are all initialized to 0xFE while the destination is set to 0x00.ĭifference between classic Lee Algorithm literature and this article, the start and target point are interchanged. Whatever your choice of default behaviour, stick with them. Robot could make a right turn leads to a dead end while left turn could lead to the destination. There is no right or wrong with these defaults. If left or right cell has the same minimum value, favor making right turn. If front cell and left or right cell have the same minimum value, favor travelling straight instead of making a turn. There are some default behaviour not documented by the pseudo-code above.

If current cell is destination cell, stop else do from step 3 onwards.

Travel to the next neighbouring cell with the minimum value.

If changed is true, repeat steps 4 to 7, else do step 8.

Calculate the value of current cell by finding the minimum value of neighboring cells (up, down, left, right) and add one and if the new value is not equal to current value, set changed to true.

Do the following for every empty cell, i.e., skip the obstacle occupied cell.

Initialize all empty cells to be m-1 if they are not occupied by obstacle.

Before travelling next cell, do the below to determine the next cell.

Set the value of destination cell to 0.

Choice of 0xFF is due to embedded hardware limitation because the 2 dimensional array is made up of unsigned char due to limited RAM on the motherboard. In other words, choose a maximum value which is impossible to exceed in any circumstance. Why 0xFF? The maximum number would depend on your cell dimensions of your maze or (grid if talking about PCB routing). Lee Algorithm for MazesolvingĬhoose a maximum number, m to represent obstacle, say 0xFF and the default value for unoccupied cell is m-1. The first half of article explains the Lee algorithm while the second half on the Direct2D code. Direct2D turned out surprisingly intuitive to use.

#Any maze software copy licence windows

This time, I wrote a Windows version with MFC and Direct2D.

#Any maze software copy licence simulator

The original simulator written in Turbo C++ 20 years ago was in DOS. Optimized path might not be shortest path because as I say, it does not have the entire map, optimized path is based on the path it has explored before. When start button is clicked, there are 2 runs: first is maze solving mode and second is optimized path mode. It updates its map with obstacle as it explores along. The program cannot see the entire map of obstacles. The green cell is the starting cell while the yellow one is the destination. Diagonal cell values are not taken into consideration. Each cell value is determined from the minimum value of the 4 neighboring cells and increment one. Lee algorithm is a very simple algorithm where the robot travels from a higher value cell to lower value cell. I must point out the algorithm described in the Wikipedia page and heat map seems fishy based on my rusty memory of the algorithm, by right, the heat map should change around obstacles.

The Lee algorithm was used to route single layer print circuit board (PCB) in 1960s and is of historical footnote until Google uses it as an interview technical test. Both micromouse and OAR team in my school make use of Lee algorithm to solve the maze.

The micromouse maze is constructed with the walls while OAR maze is constructed with obstacles. I do not have a photo of OAR, but it looks very much like micromouse. In 1999, my team won Obstacle Avoidance Robot(OAR) first prize in the Singapore Robotics Games(SRG).

#Any maze software copy licence download

Download TestMazeSolverExe.zip - 1.9 MB.

Download lee_mazesolver-1.0.2.zip - 93.5 KB.