Micromouse May 31, 2013
Team: Emad Bahr, Nan-Hsun Han,
Jeong Lim, Lee Sawyer
Advisor: Prof. Jane Dong
California State University, Los Angeles
Agenda
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Introduction / Overview …….... Emad Bahr
Hardware………………………. Nan Han
Software……………………….. Jeong Lim
Control System………………… Lee Sawyer
Conclusion…………………….. Emad Bahr
Objective
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1. Design and create an autonomous maze solving robot
2. Total cost of the robot cannot exceed $500
3. The robot should reach the center of the maze and in the shortest possible time
A- Spec & Requirements
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# Requirements Met & Achieved1 Keep accurate track of mouse’s position Yes2 Detect walls up to 12 cm Yes
3 Be able to turn 90˚ and 180˚ accurately Yes
4 Continuous run time for 10 minutes Yes
5 Implement maze solving algorithm Yes
6 Solve the maze without crashing Yes
7 Maze one block dimensions: 18 cm x 18 cm
Yes
8 Desired mouse’s dimension: Width: Between 5cm – 10cm Length: Between 5cm – 10cm Height: Between 1cm – 5cm
Yes
Key Components
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Microcontroller• Used to process sensor data
to compute and implementprograms on our mouse
Motor & Encoder Set• Used to keep accurate track
of position within the maze
Gyroscope• Used to accurately turn 90
and 180 degrees
IR LED & Transistor• Used to accurately detect
walls up to 12cm
IR Transistor
IR LED
3cm 7.5cm
9cm
Printed Circuit Board (PCB)• Used to keep mouse within
the desired dimensions:• Width: 5cm – 10cm• Length: 5cm – 10cm
Movement FunctionTurning Function:
• Turn Right 90 Degrees• Turn Left 90 Degrees• Turn 180 Degrees
Methods:• Gyroscope Yaw Axis
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Movement FunctionMoving Forward Function:
• Move mouse forward one block accurately
Methods:• Encoder
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Proportional
Derivative
Motor Speed
Sensor Reading
Mouse Position
Center Sensor Value
+ +
+
-
Control
Proportional (P): • It changes the output proportionally to the error• Very high proportional value cause unstable system
Derivative (D):• It is determined by the slope of the error • The derivative term slows the rate of change of the
controller output.• It reduce the over shoot.
ControlProportional, Derivative
controller
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Control
Used for PD Controller
Used to Detect the Wall in the Current Block
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Control3 Main Boundary Condition
1) There were walls in both side: Used angle sensors to adjust the motor speed to go straight
2) There is only one wall:Used angle sensors to adjust the motor speed to go straight
3) There are no walls:Used encoder to move straight
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Maze Solving Algorithm
Necessary arrays1) Steps to center2) Track path (Bread Crumb Path)
For fastest path 3) Wall information4) Shortest path
Steps to center array
Track Path array 12
Budget
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• Total Budget:$500
• Spent: $419
• Stayed under budget
Schedule
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Planned Schedule
Actual Schedule
Critical Path
Achievement
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• 4th Place among 20 in CAMM• Completed 170 out of 256
blocks within eight minutes• Fastest run of 1:02
• 3rd Place among 15 in AAMC
Conclusion • Designed and built a Micromouse that successfully found the shortest path to the center of maze in both competition
• Customized PCB minimize the size• Control System for straight movement• Capability to solve maze
• Learned to solve complex challenge with realistic constrains working as a team• Broader impact of the design solution: applicable in many areas including aerospace, automation, medical fields, education, etc.
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Question?
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