Como Hacer Un Micromouse

Download Como Hacer Un Micromouse

Post on 30-Oct-2015




1 download

Embed Size (px)


  • 7/15/2019 Como Hacer Un Micromouse



    AbstractThe IEEE micromouse competition has been apopular event among engineering students and engineers. A

    micromouse is an autonomous vehicle whose objective is tofind the center of a 16 by 16 cell maze within 10 minutes.After exploring the maze for some time, the micromouse willattempt to make its fastest run from the starting point to thedestination cells. This report summarizes the design and

    implementation of the MightyMouse project for the spring andfall semesters of 2005. The design method of theMightyMouse project consisted of two stages. The first stage

    was to design and construct individual components. Thesecond stage of the design process was to interface thecomponents to form the final prototype. The individualcomponents of micromouse system consist of the motorcontrol system, navigation sensor array, digital compass fordetecting orientation, and a mapping system for navigating the

    maze intelligently. A test plan was developed in order tovalidate the overall performance of the micromouse. A lifeproduct life cycle and reliability reports have also been writtenin hopes to encourage and aid future micromouse teams.

    Index Termsmicromouse, autonomous, maze, IEEE



    HE micromouse is an autonomous vehicle whose goal is

    to find the center of a maze. The official IEEE

    Micromouse Competitions began in 1987 at the World

    Micromouse Competition, where David Otten of MIT

    captured first and second place with his MITEE Mouse. This

    competition used a new scoring system design to reward

    intelligence, efficiency, and self reliance. Micromouse

    competitions have become a popular event among engineering

    students and engineers.


    A. Problem StatementDesign and construction of a micromouse requires a broad

    range of engineering skills. This combined with an open

    design process makes the micromouse project a very practical

    Manuscript received December 12, 2005. This senior design project was

    sponsored by Dr. Herb Hess of the Electrical Engineering Department,

    University of Idaho.

    and challenging senior design project.

    1) Objectives: The primary objective of this project is to

    build an autonomous vehicle, a micromouse, according to

    IEEE specifications which is able to navigate to the center of a

    maze. A secondary objective is to design a full size maze also

    in accordance to IEEE specifications.

    2) Constraints: Constraints for the micromouse come fromregulatory competition rules. The mouse size, time allowedto solve the maze, methods for solving the maze, and amonetary limit placed on the final prototype are all constraints

    imposed by IEEE competition rules.a) Size: The mouse is can be no larger than 25cm

    square.b) Time Limit to solve maze: During a IEEE

    competition the micromouse has 10 minutes to solve

    the maze and complete the run.c) Battery life: The batteries must supply power to the

    micromouse for at least 10 minutes.d) Micromouse expenses: The total cost for Micromouse

    must not exceed $500.e) Maze: The maze consists of 16 x 16 cells; each cell is

    18 cm square. The southwest corner is the startingcell. The four center cells are the destination.

    B. Solution Method1) Brief Description: There are two fundamental phases to

    our design process. The first phase was to design individual

    components of the micromouse and get them to operate

    according to individual specifications independent of one

    another. The second phase was to interface the individual

    components and have the micromouse operate as one

    autonomous unit. The first semester of the Senior Design

    course was dedicated to working on the individual

    components. The goal of the second semester was to integrate

    the individual components. The individual working

    components include the navigation sensor array, mappingalgorithm, distance and bearing devices, motor control, and

    chassis design

    An effective micromouse design must perform the

    following functions in order to find 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 turns

    MightyMouse: An Autonomous Maze SolvingRobot

    Kelly Ridge, Sanjeev Giri, Peter Shaw, Jason Flynn


  • 7/15/2019 Como Hacer Un Micromouse



    f) Perform mechanicallyg) Navigate the maze intelligently

    2) Overview of Micromouse functions: The mouse mustrecognize walls and openings in order to navigate the mazeand prevent crashes. The navigation sensor array provides the

    mouse with this information. The navigation sensor arrayconsists of a combination of four short-range and two long-

    range infrared sensors.The mouse must stay centered within the maze to prevent

    compounding errors in distance and position calculations. Adigital compass determines if the deviates from its desiredbearing. This information is sent to the motor control systemto make proper corrections, either speeding up or slowingdown one wheel.

    The motor control portion of the project is responsible forsafely moving the micromouse through the maze. There aretwo maximum speeds, one for the mapping portion of thecompetition and one for the racing portion of the competition.

    The motor control code is given a distance to travel as input.It is then the responsibility of the motor control to accelerate

    and decelerate the mouse during travel. The rate ofacceleration is fixed based upon the traction of the wheels onthe maze surface.

    In order to ensure that the mouse is not slipping, the motorsare controlled with PI feedback. The shaft encoders (built intothe motors) read in the speed of the wheels and send this datato the motor control code that adjusts the speed of each wheel

    accordingly.The mouse must keep track of position and bearing during

    each run to provide navigation information to the mappingsystem. The shaft encoders that are built in to the motorsmonitor the distance the micromouse travels. The electronic

    compass determines which direction the micromouse is facing.

    The combination of these two systems provides the dataneeded by the mapping and navigation systems.To move efficiently through the maze the micromouse must

    be able to make precise 90 turns. The digital compass ispolled during turns to provide control feedback to the motorsand navigation systems.

    The mechanical soundness of the micromouse design is animportant factor. The chassis needs to keep the systems stable

    during operation so accurate data is recorded. The chassisalso keeps the drive train in line in order to reduce the numberof path corrections made.

    To successfully and efficiently solve the maze the mouse

    must make intelligent navigation decisions based on its

    current position. The mapping system utilizes a modifiedflood-fill algorithm to determine the best solution as the mazeis discovered.

    C. Component Descriptions1) Sharp GP2D Sensor Array: The short-range sensor array

    consisting of two Sharp GP2D120 infrared sensors is

    interfaced to the microcontroller and can determine whenthere is an opening to the left or the right of the mouse.

    These sensors are positioned so that the angle of incidencewith a sidewall is 90 degrees. The side sensors crossfire

    across the body of the mouse thus keeping the sensors outside

    the minimum firing range of 4cm. The side sensors aremounted directly to main circuit board of the mouse.

    The long-range sensor array, consisting of two SharpGP2D12 infrared sensors, determines walls in front of or

    behind the mouse and outputs their approximate distances.The long-range sensors cross-fired across the length of themicromouse preventing the sensors from exceeding the

    minimum sensing range of 10cm.

    Fig.1 Navigation Sensor Array

    2) Devantech Digital Compass: The Devantech electroniccompass is interfaced to the microcontroller via an I2Cinterface. It returns values between 0 and 255 indicating itsrotational orientation. A one-time calibration is performed

    that improves accuracy when the compass is moved to newlatitude.

    The compass experiences strong electromagneticinterference when it is in close proximity to the DC motors.

    The minimum distance required to yield accurate readings isapproximately three inches. The compass is also most

    accurate when it is positioned horizontal to the ground. Theseconstraints forced the compass to be mounted on a pole wellabove the rest of the micromouse.

    3) Mapping System: The mapping system solves a full

    16x16 maze using input from the sensor array, shaft encoders,

    and digital compass. The modified flood filled algorithm used

    to solve the maze is explained in detail in the method of

    solution section for the Mapping System.

    4) Motor Drive System: The motor drive system consists oftwo DC motors with built in shaft encoders that are poweredby two monolithic H-bridge ICs. The ICs contains all of the

    free-wheel diodes and power transistors necessary for drivingthe motors. Also, the input to the ICs is CMOS and TTL

    compatible. These properties allow us to minimize the size ofthe circuitry necessary to power the mouse.

    The Zilog project for controlling the H-bridge also

    incorporates the shaft encoders, I2C compass, and the serialHyperTerminal output. This integration was done to helpensure that the code for controlling the motors will notinterfere with these other functions.

    The built in shaft encoder