A high efficiency Center-First-Routing-Theorem algorithm of micro-mouse

A high efficiency algorithm is developed for micro-mouse routing in maze. In the algorithm, a center-first-theorem is applied to find out several short roads in maze, then the shortest road can be find out among those roads by comparing with each other. Therefore, the algorithm is able to escape from the complex work of recording whole routing information of the maze. Methods to realizing coordinate recording, center-first routing and optimum path sorting are put forward. In practice, it is proved that this algorithm can reduces error execution and improves efficiency.