Micromouse

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MICROMOUSE

Contents • What is micromouse ? • History • Block Diagram of micromouse • Chassis • Motors • Sensors • Algorithm • Microcontroller

What is “MICROMOUSE” ? • Completely autonomous robot • Search/Navigate the given maze • Takes ‘shortest time path‘ from start to centre

MAZE

3-d View

Micromouse History • In 1979, first micromouse competition held, organized by IEEE - 6000 initial entries - 15 mice ran - 10x10 maze - Dumb wall follower beats all other sophisticated mice

• Currently - A Japanese mouse runs diagonals during search .Intelligent one • Indian History - Path Finder 1 - Path Finder 2 • Videos of other micromouse - Itani

•What all is needed to make a Micromouse ?

Block Diagram Left Motor

Right Motor

Motor Driver

Opamps LED Micro controller Drivers

Motor Driver

Analog Sensor Module

Top Down CompSensor arators Module

Mechanical Aspects  Stability - Static - Dynamic  Performance - Speed - Acceleration/Retardation - Turning - Accuracy

MOTORS

Two options : -

• Stepper motors

• D.C motors

Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control is not easy and requires closed loop system .

• Stepper Motor 1. Heavier than DC motors. 2. Speed control is straightforward and precise.

Stepper motors

• Theory of Operation • Different driving techniques • Step calculations - For moving ahead - For taking turns

BIGGEST QUESTION ..

• HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??

CHASSIS

Chassis

SENSORS

What is a sensor ? • A device that measures or detects a physical condition. • An electronic sensor converts this measurements into an equivalent analog or digital electrical signal.

Why does a Micromouse require sensors ??

Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach

TOP DOWN WALL SENSING APPROACH

CHOICES FOR SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor

• Infrared – TSOP – IR Receiver and filter package – Sharp sensor

TSOP 1738 receiver

TRANSMITTER (38 KHz)

HEART OF SOLVING THE MAZE ..

ALGORITHM

Different Algorithms : • The Wall Follower (Not an Algo..) • Lee’s Algorithm • The Flood-Fill Algorithm • The Modified Flood-Fill Algorithm

Mainly used : -

The Modified Flood-Fill Algorithm

MICRO CONTROLLER

Microcontrollers • What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff - Use to control general purpose electronic devices

Inside a Microcontroller • • • • • • • • •

CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers UART ADC SPI

Available family of microcontrollers • 8051 • AVR • PIC

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