Research And Design Of The IEEE Micromouse

Micromouse is a type of robot which can automatically solve the maze with the help ofdrivers, sensors and control systems. With the development of intelligent community trends,Micromouse not only has important significance in the competition, but also has extensivepractical value. The technologies used in Micromouse also can be applied to other industries,such as automatic navigation, factory automation, smart home, obstacle avoidance robot etc.Based on the rules of IEEE Micromouse competition, this paper makes an extensiveresearch and analysis on the functions and features which Micromouse should have. Throughsummarizing the results of many domestic and international papers and performingexperiments, the research and design of the IEEE Micromouse is conducted in this paper.Firstly, To satisfy the functional requirement of Micromouse, this paper selects STM32as the Micromouse’s CPU after comparison, and designs the peripheral circuit according tothe actual function. The DC motors are chosen to drive the Micromouse, then the controlmethod for the motor are analysed and designed. The infrared sensors are used asMicromouse’s eyes to identify the maze walls, and the Gyro sensor also be drawed into theMicromouse for smooth running and accurate measurement of the “angle offset”. Afterimplementing the hardware system, the relevant testing experiments should be done.Secondly, Aming at the design of the control algorithms, an advanced control model hasbeen selected to use after summing up the previous methods. This model regards Micromouseas a whole to control, while most of the original control models separately control the twowheels of the Micromouse.Finally, this paper conducts the work of research and design on path planning. After a lotof study and comparison, A*algorithm is chosen as the final search algorithm. In order toavoid the problems brought by the original A*algorithm applied in Micromouse, A*algorithm has been improved in this paper. Experiments show that the improved algorithm hasa higher efficiency than previous.