micromouse maze solving robot chang yuen chung universiti ...

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CHAPTER 3METHODOLOGY3.1 Overview of Micromouse Function and TheoryThere are two fundamental phases to the design process. The firstphase was to design individual components of the Micromouse and get them tooperate according to individual specifications independent of one another. Thesecond phase was to interface the individual components and have the Micromouseoperate as one autonomous unit. The first semester of the project was dedicated toworking on the individual components. The goal of the second semester was tointegrate the individual components. The individual working components include thenavigation sensor array, mapping algorithm, motor control, and chassis design. Aneffective Micromouse design must be able to meet the following functions in order tofind the center of a maze.a) Recognize walls and openingsb) Stay centered within each cellc) Know position and bearing within the mazed) Control the distance needed to travele) Make precise 45° and 90° turnsf) Good chassis to keep structure stableg) Navigate the maze intelligently
12As an overview of the Micromouse function, the mouse must recognize wallsand openings in order to navigate the maze and prevent crashes. The navigationsensor array provides the mouse with this information. The navigation sensor arrayconsists of a combination of three analog distance sensor situated in the left, rightand front of the Micromouse. The mouse must stay centered within the maze toprevent compounding errors in distance and position calculations. The left and rightsensors determine if it deviates from its desired bearing. This information is sent tothe motor control system to make proper corrections, either speeding up or slowingdown one wheel. The motor control portion of the project is responsible for safelymoving the Micromouse through the maze.The mouse must keep track of position and bearing during each run toprovide navigation information to the mapping system. The algorithm will calculatethe distance the Micromouse travels. The bit 4 and 5 in the information bytedetermines which direction the Micromouse is facing. The combination of these twosystems provides the data needed by the mapping and navigation systems.To move efficiently through the maze the Micromouse must be able to makeprecise clockwise or anticlockwise 90° turns and 180° turns. The mechanicalsoundness of the Micromouse design is an important factor. The chassis needs tokeep the systems stable during operation so accurate data is recorded. The chassisalso keeps the drive train in line in order to reduce the number of path correctionsmade. To successfully and efficiently solve the maze the mouse must makeintelligent navigation decisions based on its current position. The mapping systemutilizes a modified flood-fill algorithm to determine the best solution as the maze isdiscovered.
Page 5 and 6: ii“I declare that this thesis ent
Page 7 and 8: ivACKNOWLEDGEMENTI would like to ta
Page 10 and 11: viiTABLE OF CONTENTSCHAPTER TITLE P
Page 12 and 13: ixLIST OF FIGURESFIGURE NO. TITLE P
Page 14 and 15: xiLIST OF ABBREVIATIONS3D - 3 Dimen
Page 16: CHAPTER 1INTRODUCTION1.1 Project Ba
Page 19 and 20: CHAPTER 2LITERATURE REVIEW2.1 Previ
Page 21 and 22: 62.3 Mobot [2]The second model will
Page 23 and 24: 82.5 Micromouse UTM FYP 2006 [4]Ano
Page 25: 102.7 SummaryAs a summary from the
Page 29 and 30: 143.3 Structure and MechanismIn ord
Page 31 and 32: 16by the environment. Figure 3.4 sh
Page 33 and 34: 18Figure 3.8 Characteristic Table a
Page 35 and 36: 20microcontrollers utilized for Mic
Page 37 and 38: Figure 3.11a Pictorial Illustration
Page 39 and 40: 243.7 SummaryAs a summary for chapt
Page 41 and 42: 26Right ViewLeft ViewVIEWFront View
Page 43 and 44: 281234+5VVCC VCC VCC VCCABSENSOR321
Page 45 and 46: 30Figure 4.5 Schematic for the Moto
Page 47 and 48: 32shows the content of the informat
Page 49 and 50: 34development process. Figure 4.10
Page 51 and 52: 365.2 ConclusionAs a conclusion, th
Page 53 and 54: REFERENCES[1] Web Reference:http://

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