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ONU Micromouse

Spencer Cupp and Kiel WoodDr. Khalid Al-Olimat – Advisor

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OutlinePrototypeSystem OverviewSensorsMotor Control SystemDrift CorrectionYaw CorrectionAlgorithmPerformanceConclusionQuestions

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Prototype

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Prototype

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System Overview

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Sensors

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Motor Control

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Motor Control

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Drift Correction

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Yaw Correction

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Drift and Yaw Correction

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Arduino Uno LimitationsHas only 2 digital interrupt pins SRAM

◦2 kB◦Stores the stack (restricts recursive

calls)◦Stores local and global variables

Flash Memory◦32kB◦Stores program memory◦Stores constant variables

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Arduino Mega 2560Has 8 kB of SRAM Has 256 kB of Flash MemoryHas 6 digital interrupt pins

available

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Prototype in action

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AlgorithmFlood Fill Algorithm

◦Pros Provided great performance Not very computationally intensive Does not use up a lot of precious memory Does not require mapping of the entire

maze◦Cons

Success is dependent on hardware performance

Once the Micro-mouse gets “lost” there is no recovery.

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ConclusionFunctional prototype developedAlgorithm tested and verified in

software and hardwareVarious movement control

systems implementedAlgorithm and movement control

function in tandemThird place in the 2013 SAC IEEE

R2 Micro-mouse competition.

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Questions