Micromouse - Mapping

Yesterday I sat down and wrote the route planning / mapping algorithm for the bot. I've taken away the simulated sensors and bot, and just focused on getting the planning out of the way.

I'm essentially using a flood-fill algorithm based on the sensor data the robot has acquired.

Video of it in action:

While mapping, the maze is continuously updated based on the available routes, with the shortest path prevailing at the end.

Grey walls are the maze walls, and red walls are walls the robot has detected.

Of course, the shortest route isn't always the fastest, so the next step will be analysing the routes and deciding on the fastest... but for that, I need a robot to get some movement data on.