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Contents
• What is micromouse ?
• History
• Block Diagram of micromouse
• Chassis
• Motors
• Sensors
• Algorithm
• Microcontroller
What is “MICROMOUSE” ?
• Completely autonomous robot
• 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 ..
ALGORITHM
Different Algorithms : -
• The Wall Follower (Not an Algo..)
• Lee’s Algorithm
• The Flood-Fill Algorithm
• The Modified Flood-Fill Algorithm
Mainly used : -
• 8051
• AVR
• PIC