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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