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A Micromouse is a completely Autonomous Robot designed to reach the center of an unknown 16x16 Maze in shortest possible distace and time.
This was my third attempt to make Micromouse. Quality and performance of my Mouse is continuously improving. My old Micromouse (2007) was a successful Mouse, it could navigate in the Maze and can find out the shortest path to the destination. But still it is not 100% perfect and it is littel slow, so I started building a new Mouse to get improved performace. This time my University has recognized my work and sponsored me to travel to USA and participate in International Micromouse competition during IEEE Applied Power Electronics Conference.
Technical Specifications:
- A pair of Stepper Motors (5 V, 1 Amp) over driven at 16.8 V by limiting the current to 1 Amp (approx) using the current chopping technique.
- Four L293D's for driving the stepper motors using the open loop current chopping technique.
- Three IR LED and Photodiode pairs, modulated (to avoid the effect of ambient light) at 10 KHz, as sensors to detect the presence of Maze wall and to measure the distance of the wall from the Mouse.
- Software implemented Proportional Derivative (PD) controller for proper steering of the Robot in between the walls.
- Four Li-Ion Batteries of 1600 mAH (4.2*4=16.8 V).
- Moves at an acceleration of 1 m/ sec/sec.
- Maximum speed of 0.6 m/sec (even more could achieve, but limited because of some constraints).
- Inspace integrated turns.
- Floodfill algorithm to solve the Maze.
Achievements:
- Participated in International Micromouse Contest during IEEE Applied Power Electronic Conference at Austin, Texas, USA. (trip sponsored by my University).
- Qualified for Finals in International Micromouse Contest during Techfest'08, IIT - Bombay.
- Won best design award at VITU.
For more technical details, visit Micromouse 2007 and Making of Micromouse.
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