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MICROMOUSE MICROMOUSE
MICROMOUSE MICROMOUSE
MICROMOUSE MICROMOUSE
MICROMOUSE MICROMOUSE

MICROMOUSE

MICROMOUSE

MICROMOUSE MICROMOUSE
MICROMOUSE MICROMOUSE
MICROMOUSE MICROMOUSE
MICROMOUSE MICROMOUSE
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller

Contents

Contents

Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller

What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller

Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
Contents Contents What is micromouse ? History Block Diagram of micromouse Chassis Motors Sensors Algorithm Microcontroller
is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the
is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the
is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the

What isis MICROMOUSE

What

MICROMOUSE ??

is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the

Completely autonomous robot

is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the
is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the
is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the
is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the

Search/Navigate the given maze

is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the

Takes ‘shortest time path‘ from start to centre

is is “ “ MICROMOUSE What ? ? • Completely autonomous robot • Search/Navigate the
MAZE MAZE
MAZE MAZE
MAZE MAZE

MAZE

MAZE

MAZE MAZE
3-d 3-d View View
3-d 3-d View View
3-d 3-d View View

3-d

3-d View

View

3-d 3-d View View
Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -
Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -
Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -

Micromouse

Micromouse

Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -

History

History

• In 1979, first micromouse competition held, organized by IEEE

Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -
Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -
Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -
-
-
-
-

6000 initial entries

- -
-
-

15 mice ran

10x10 maze

Dumb wall follower beats all other

Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -

sophisticated mice

Micromouse Micromouse History History • In 1979, first micromouse competition held, organized by IEEE - -
-
-
- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-4" src="pdf-obj-6-4.jpg">
- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-6" src="pdf-obj-6-6.jpg">

Currently

A Japanese mouse runs diagonals during search .Intelligent one

- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-16" src="pdf-obj-6-16.jpg">
- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-18" src="pdf-obj-6-18.jpg">

Indian History

- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-23" src="pdf-obj-6-23.jpg">
- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-25" src="pdf-obj-6-25.jpg">
- -
-
-

Videos of other micromouse - Itani

- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-37" src="pdf-obj-6-37.jpg">
- Currently A Japanese mouse runs diagonals during search . <a href=Intelligent one Indian History - - Path Finder 1 Path Finder 2 Videos of other micromouse - Itani " id="pdf-obj-6-39" src="pdf-obj-6-39.jpg">
• What all is needed to make a Micromouse ?
• What all is needed to make a Micromouse ?
• What all is needed to make a Micromouse ?
• What all is needed to make a Micromouse ?
• What all is needed to make a Micromouse ?

What all is needed to

make a Micromouse ?

• What all is needed to make a Micromouse ?
• What all is needed to make a Micromouse ?
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-

Block

Block Diagram

Diagram

Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Left Motor Right
Left
Motor
Right

Motor

Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-

Micro

controller

Analog

Sensor

Module

Sensor

Module

Op-
Op-
Motor Driver
Motor
Driver
  • amps

Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-

LED

Drivers

Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Motor Driver
Motor
Driver

Top Down
Comp-

arators

Block Block Diagram Diagram Left Motor Right Motor Micro controller Analog Sensor Module Sensor Module Op-
Mechanical  Stability Mechanical Aspects Aspects - Static - - Dynamic  Performance Speed -
Mechanical  Stability Mechanical Aspects Aspects - Static - - Dynamic  Performance Speed -
Mechanical  Stability Mechanical Aspects Aspects - Static - - Dynamic  Performance Speed -
Mechanical  Stability Mechanical Aspects Aspects - Static - - Dynamic  Performance Speed -
  • Mechanical Stability

Mechanical Aspects

Aspects

-
-

Static

- -
-
-

Dynamic

Mechanical  Stability Mechanical Aspects Aspects - Static - - Dynamic  Performance Speed -

Performance

Speed

- -
-
-

-

Acceleration/Retardation

Turning

Accuracy

Mechanical  Stability Mechanical Aspects Aspects - Static - - Dynamic  Performance Speed -
MOTORS

MOTORS

options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors

Two options

Two

options :: --

options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors

Stepper motors

options Two : : - - • Stepper motors • D.C motors

D.C motors

options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors
options Two : : - - • Stepper motors • D.C motors
Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control
Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control
Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control

Comparison

Comparison

Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control
•

DC Motor

1. Usually much lighter than stepper motor.

Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control
Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control

2. Precise speed

Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control

control is not easy and requires closed loop system .

Comparison Comparison • DC Motor 1. Usually much lighter than stepper motor. 2. Precise speed control

Stepper Motor

1. Heavier than DC motors.

2. Speed control is straightforward and precise.

Stepper Stepper motors motors
Stepper Stepper motors motors
Stepper Stepper motors motors

Stepper

Stepper motors

motors

Stepper Stepper motors motors
• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -

• Theory of Operation • Different driving techniques • Step calculations

• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -

For moving ahead

• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -
• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -
• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -
• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -
- -
-
-

For taking turns

• Theory of Operation • Different driving techniques • Step calculations For moving ahead - -
QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??
QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??
QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??

BIGGEST QUESTION

BIGGEST

QUESTION ....

QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??
QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??
QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??

•HOW TO SELECT A STEPPER

MOTOR FOR MICROMOUSE ??

QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??
QUESTION BIGGEST .. .. •HOW TO SELECT A STEPPER MOTOR FOR MICROMOUSE ??
CHASSIS
CHASSIS
CHASSIS

CHASSIS

CHASSIS
Chassis Chassis
Chassis Chassis
Chassis Chassis

Chassis

Chassis

Chassis Chassis
Chassis Chassis
SENSORS
SENSORS
SENSORS

SENSORS

SENSORS
SENSORS
SENSORS
What is is a a sensor ? ? • A device that measures or detects a
What is is a a sensor ? ? • A device that measures or detects a
What is is a a sensor ? ? • A device that measures or detects a

What

What isis aa sensor

sensor ??

What is is a a sensor ? ? • A device that measures or detects a

• A device that measures or detects a physical condition.

What is is a a sensor ? ? • A device that measures or detects a
What is is a a sensor ? ? • A device that measures or detects a
What is is a a sensor ? ? • A device that measures or detects a

• An electronic sensor converts

What is is a a sensor ? ? • A device that measures or detects a

this measurements into an equivalent analog or digital electrical signal.

What is is a a sensor ? ? • A device that measures or detects a
What is is a a sensor ? ? • A device that measures or detects a
does Why a a Micromouse require sensors ?? ??
does Why a a Micromouse require sensors ?? ??

Why does

Why

does Why a a Micromouse require sensors ?? ??

does aa Micromouse

Micromouse

does Why a a Micromouse require sensors ?? ??

require

require sensors

does Why a a Micromouse require sensors ?? ??

sensors ????

does Why a a Micromouse require sensors ?? ??
Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
Sensor Approaches For Micromouse
Sensor Approaches For Micromouse

Sensor Approaches For Micromouse

• Top Down Sensing Approach

Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach

•Side Looking Sensing Approach

Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
Sensor Approaches For Micromouse • Top Down Sensing Approach •Side Looking Sensing Approach
TOP DOWN WALL SENSING APPROACH
TOP DOWN WALL SENSING APPROACH
TOP DOWN WALL SENSING APPROACH
TOP DOWN WALL SENSING APPROACH
TOP DOWN WALL SENSING APPROACH

TOP DOWN WALL SENSING

APPROACH

TOP DOWN WALL SENSING APPROACH
TOP DOWN WALL SENSING APPROACH
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
  • CHOICES

CHOICES FOR

FOR SENSORS

SENSORS

Choices

CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor

– Ultrasonic – Infrared – Mechanical Sensor

CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor

Infrared

– TSOP – IR Receiver and filter package – Sharp sensor

CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
CHOICES CHOICES FOR FOR SENSORS SENSORS • Choices – Ultrasonic – Infrared – Mechanical Sensor
TSOP 1738 TSOP 1738 receiver receiver
TSOP 1738 TSOP 1738 receiver receiver

TSOP 1738

TSOP

1738 receiver

receiver

TSOP 1738 TSOP 1738 receiver receiver
TRANSMITTER (38 TRANSMITTER (38 KHz) KHz)
TRANSMITTER (38 TRANSMITTER (38 KHz) KHz)
TRANSMITTER (38 TRANSMITTER (38 KHz) KHz)

TRANSMITTER (38

TRANSMITTER

(38 KHz)

KHz)

TRANSMITTER (38 TRANSMITTER (38 KHz) KHz)
HEART OF HEART OF SOLVING MAZE .. .. SOLVING THE THE ALGORITHM
HEART OF HEART OF SOLVING MAZE .. .. SOLVING THE THE ALGORITHM
HEART OF HEART OF SOLVING MAZE .. .. SOLVING THE THE ALGORITHM

HEART OF

HEART

OF SOLVING

MAZE

MAZE ....

SOLVING THE

THE

HEART OF HEART OF SOLVING MAZE .. .. SOLVING THE THE ALGORITHM

ALGORITHM

HEART OF HEART OF SOLVING MAZE .. .. SOLVING THE THE ALGORITHM
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •

Different

Different Algorithms

Algorithms :: --

• The Wall Follower (Not an Algo ) .. • Lee’s Algorithm • The Flood-Fill Algorithm • The Modified Flood-Fill Algorithm

Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
Different Algorithms : : - - • The Wall Follower (Not an Algo ) .. •
used Mainly : : - - The Modified Flood-Fill Algorithm

Mainly used

Mainly

used :: --

used Mainly : : - - The Modified Flood-Fill Algorithm
used Mainly : : - - The Modified Flood-Fill Algorithm

The Modified Flood-Fill

Algorithm

used Mainly : : - - The Modified Flood-Fill Algorithm
MICRO CONTROLLER

MICRO

  • CONTROLLER

MICRO CONTROLLER
MICRO CONTROLLER
Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff
Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff
Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff

Microcontrollers

Microcontrollers

What is a microcontroller ?

-
-

Definition: A computer-on-chip

Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff
-
-

Microprocessor + added stuff

Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff

- Use to control general purpose electronic devices

Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff
Microcontrollers Microcontrollers What is a microcontroller ? - Definition: A computer-on-chip - Microprocessor + added stuff
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers

Inside

Inside aa

Microcontroller

Microcontroller

CPU

Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers

Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers UART ADC SPI

Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Inside a a Microcontroller Microcontroller CPU Program Memory (EEPROM/Flash) Data Memory (RAM) Input/Output ports Interrupts Timers
Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC

Available family

Available

family of

of

microcontrollers

microcontrollers

Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC

• 8051 • AVR • PIC

Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC
Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC
Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC
Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC
Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC
Available family Available family of of microcontrollers microcontrollers • 8051 • AVR • PIC