Micro Mouse

Jatin Pasrija
Prateek Agrawal
Shashank Singla
Sushmita Rawat
Project Statement
 We had planned to work on micromouse which is a
maze solving robot.
 The project incorporates implementation of a maze
solving algorithm on a actual piece of hardware which
in this case is a free to move 2 wheeled machine (motor
driven)
 The first phase of our project was to design the robot
capable of all degrees of motion + implementation of
sensors +control of the two stepper motors installed on
the robot based on outputs from a PIC (Programmable
IC) Microcontroller. We also planned to use ADC
(Analog to Digital Conversion) for the sensors in our
robot.
 The next phase consists of actually calibrating the
sensors, programming the robot, installing radio
communication in it +installing LCD in it for getting
feedback from the robot.
What is a Micro Mouse
A Micro Mouse is an
miniature electro-
mechanical robot,
typically consisting of
three main subsystems:
The drive system, an
array of sensors, and the
control system. Its
purpose is to find its way
through ANY type of
maze - in the shortest
amount of time. It
integrates several
different disciplines of
engineering, ranging
from electrical to
mechanical to computer
Micromouse – Building
Blocks Chassis
 The chassis needs to
hold two motors,
sensors, circuit and
the power supply. It
has been made using
two aluminum
angles. The
robustness and
flexibility of the
robot depends on
the chassis.
 The chassis has been
kept simple and of
light weight.
Wheels
 The wheels are a crucial part of the
robot and they must be very precise in
their size for the straight motion of the
robot.
 We had earlier bought wooden wheels
manufactured, however these were of
insufficient strength and broke up after
a few rounds of testing
 Then we procured aluminium wheels
from the manufacturing lab.
Sensors
 Side- looking sensors to
measure the distance
from the wall and detect
their absence/presence.
 We have used three
sensors, one in front and
one on each side of the
mouse, thus allowing our
robot to move in one
direction properly.
 We prepared IR sensors
ourselves.They were
working but for short
distance only. So, we
procured modulated
visible light sensors.
Motors
 Stepper motors suits for
the needs. Those which
come out of old
electronic gadgets are
more than sufficient.
 While choosing a stepper
motor for a micromouse,
we kept few things in
mind. We need to look
for motors with low
voltages and higher
current ratings. This
holds true for unipolar as
well as bipolar motors.
 we have two motors
properly fixed into the
chassis.
Motor Driver
  We have used IC
L298 as the motor
driver for our
stepper motors
because of its
high current
capabilities.
Driver Circuit
LCD Screen
 LCD is an extremely handy
debugging tool. We have used a
16x2 LCD that has a contrast-
setting pot and a backlight
switch soldered on to the back.
 We have used the LCD for two
main purposes: We can display
all the sensor readings on the
LCD so that we could observe
and note the readings as the
mouse moves through the maze.
 We can also calibrate the mouse
easily using the LCD, since,
instead of reprogramming the
PIC every time, all we have to do
is create a menu interface and
change the values of
‘parameters’.
Power Supply
 We’ll need a 12V
battery as our
power supply. So
we have procured
10, 1.2 V Ni-Cd
batteries for this
purpose because
of their better
performance and
low cost.
Wireless Module
 A simple micromouse
usually consists of an
onboard LCD display and
switching mechanism.
 However, we intended to
go a step further by
wirelessly transmitting
the data to the LCD, and
perhaps even calibrate
the program wirelessly.
 This will require an RF
module working at
413/433 MHz
 We have left the space
for the hardware on our
main circuit board. But
we need to procure the
same and place it.
The brain
 We have
used microcontroller. PIC
18F4550, a very powerful
chip, supported by
Microchip’s C18 C compiler.
 Micromouse demands a lot
of processing power, a
good onboard ADC (Analog
to Digital Converter) and
lot of multiprocessing tasks
(good set of timers), this
PIC has got it all. Although
there is no free running
ADC mode, the actual
conversion time is really
small.
 All the programming for
Summary of work done
 Build the chassis
 Procured Motors , batteries, LCD, PIC, Motor
Drivers etc.
 Made the sensor plate containing three
sensors
 Placed the sensor plate on the chassis.
(placement needs to be accurate)
 Have made the basic circuitry for our micro
mouse, which include the PIC circuit, LCD
module, Sensor Ports and motor drivers ,
including space for RF module and tested the
same.
Cont..
 Worked out the LCD code. LCD is
now working and displaying data.
 Sensors have been properly
cascaded with the main circuitry
and the data from same has been
made available on LCD for
calibration.
 Code for motor driver has been
written.
Still to do……….
 Procure wheels from the
manufacturer
 Test the motor driver code.
 Work on the RF module.
 Write the code for solving a maze.
 Finally coordinate all the individual
blocks (through coding) to get a
working micro mouse.
 Test it. (construct a maze it)
ESTIMATED BUDGET
Estimated Cost in Rupees->
 Chassis - 500

 Stepper Motors - 1000

 Wheels - 200

 Motor Drivers - 300

 Microcontroller - 300

 Sensors - 300

 Electronic Components - 200

 16x2 LCD - 120

 RF Module - 350

 Battery - 600

 TOTAL->Rs 3870

 BUDGET INCLUDING OVERHEADS->Rs 4000/-