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Micromouse Final Presentation: Navigating an Autonomous Robot Through a Maze

Join us for the final presentation of our Micromouse project, exploring the design, programming, and challenges encountered in creating an autonomous maze-solving robot. Learn about our innovative solutions and future suggestions for improvement.

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Micromouse Final Presentation: Navigating an Autonomous Robot Through a Maze

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  1. MicroMouse Final Presentation Jill Kobashigawa Min Mo Jon Shindo Christy Kaneshiro

  2. Introduction • Jill • Leader • Programming • Christy • Sensor boards • Programming • Jon • Chassis • Motor Circuit • Min • Sensor layout design • Webpage

  3. Overview • Micromouse • Autonomous robot that navigates and finds the center of the maze • Project will apply programming concepts as well as circuit design • Maze (16x16 cells)

  4. Initial Goals • Build a mouse that is functional • Learn how to apply skills learned in class • Learn how to work in a group

  5. Block Diagram

  6. Design- Chassis • Initial chassis • Rubber wheel attachments • Ni-MH Batteries • Height for boards • Old car deck holder • Problems with chassis • Wheels unstable • Batteries hard to access • Too heavy

  7. Design – Chassis cont. • Final chassis • Emphasis on less weight • Aluminum wheel attachments • More space for batteries, Velcro attachments • Aluminum chassis • Aluminum standoffs

  8. Design- Sensors • Sensors (Initial) • 12 total top down • Main purpose • Alignment, keep straight, know when crooked • Sensors (Final) • 10 sensors • (inner 2 too close to wheels)

  9. Design- Motor Circuit • Our initial circuit • Built exactly how it was built on the protoboard • Did not work • Checked connections!!! • Checked inverters!!! • Checked MOSFETs!!! • Checked rabbit!!! • We do not know why!?!?!? • Eventually the board was stripped and salvaged and a new motor circuit was designed and built

  10. Design- Motor Circuit cont. • Second motor circuit worked much better • No inverters • Diodes were considered but were not used because we feared they may not work correctly • Lower resistance to prevent feedback current to rabbit • Reduced amount of wires and neater layout • More power efficient

  11. Design - Programming • Tracking • Alignment • Gaps • Mapping • Algorithm • Solving • Algorithm

  12. Outstanding Problems & Suggestions for the Future • Mapping code conflicts with tracking • Better way to connect everything • Get an earlier, better understanding of each components role in the entire process

  13. What we learned  • How concepts and equations physically behave in real life • Pre-planning is the key to success • More flexible designs • Perform tasks after you understand the reason for them

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