Design of Multi-Agent Pathfinding Robot Using Improved Flood Fill Algorithm in Maze Exploration

Abstract

—Maze exploration is a field of science that continues to be researched and developed. Various algorithms, techniques, and scenarios result in faster trips and shortest distances. Various international competitions in the maze field are also held to encourage quicker and better labyrinth exploration innovations. Usually, maze exploration uses a mobile robot that moves autonomously in pathfinding to reach the target location. This study aims to generate and test a multi-agent algorithm to find the closest distance to reach a target in an unknown maze. So the question is how multi-agents can work together to reach the target using the shortest possible path. For this reason, a flood fill algorithm usually used for single-agent has been developed into an improved flood fill algorithm that can be applied to multi-agents. The result is an algorithm that can be applied to find targets through unknown maze exploration using multi-agent.