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 Op- Analog
Motor
Driver
amps Sensor
Module
Micro LED
controller Drivers
Right
Motor Motor Top Down
Driver Comp- Sensor
arators Module
Mechanical Aspects
Stability
- Static
- Dynamic
Performance
- Speed
- Acceleration/Retardation
- Turning
- Accuracy
MOTORS
Two options : -
• Stepper motors
• D.C motors
Comparison
• DC Motor • Stepper Motor
1. Usually much 1. Heavier than DC
lighter than stepper motors.
motor.
2. Precise speed
control is not easy 2. Speed control is
and requires closed straightforward
loop system . 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
