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
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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Micromouse
July 2020 3