udABSTRACT Maze was a complex road network. In the robotics there were two types of maze that commonly used, namely the wall maze and line maze. Wall maze was generally known as the labyrinth, namely a road network that formed over the halls with the walls without a roof. In the line maze, a road network was formed by using the line. If the line was coloured white then the background was coloured black or vice versa. Problems that arose in the line maze was a way to get the shortest path from the line maze. In this final project, the problems in the line maze solved by maze mapping algorithm. This algorithm consists of two modes, namely search mode and return mode. In search mode, the robot traveled from the start position to finish with a rule that will put the robot to turn left when found intersection. Unique codes was generated when robot met with the intersection. In the return mode, the robot had been running from start to finish with the shortest way. The shortest path was obtained from a unique code that had been converted. Based on the experimental conversion program that had been done, it needed a powerful formulation to obtain the desired results. In testing the entire system, obtained an error of 10% from 10 attempts in a row. This error caused the battery condition was weakening. Keyword : robot, maze, mapping, PID, line sensor
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