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ONU Micromouse

ONU Micromouse. Spencer Cupp and Kiel Wood Dr. Khalid Al- Olimat – Advisor. Outline. Prototype System Overview Sensors Motor Control System Drift Correction Yaw Correction Algorithm Performance Conclusion Questions. Prototype. Prototype. System Overview. Sensors. Motor Control.

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ONU Micromouse

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  1. ONU Micromouse Spencer Cupp and Kiel Wood Dr. Khalid Al-Olimat – Advisor

  2. Outline • Prototype • System Overview • Sensors • Motor Control System • Drift Correction • Yaw Correction • Algorithm • Performance • Conclusion • Questions

  3. Prototype

  4. Prototype

  5. System Overview

  6. Sensors

  7. Motor Control

  8. Motor Control

  9. Drift Correction

  10. Yaw Correction

  11. Drift and Yaw Correction

  12. Arduino Uno Limitations • Has only 2 digital interrupt pins • SRAM • 2 kB • Stores the stack (restricts recursive calls) • Stores local and global variables • Flash Memory • 32kB • Stores program memory • Stores constant variables

  13. Arduino Mega 2560 • Has 8 kB of SRAM • Has 256 kB of Flash Memory • Has 6 digital interrupt pins available

  14. Prototype in action

  15. Algorithm • Flood Fill Algorithm • Pros • Provided great performance • Not very computationally intensive • Does not use up a lot of precious memory • Does not require mapping of the entire maze • Cons • Success is dependent on hardware performance • Once the Micro-mouse gets “lost” there is no recovery.

  16. Conclusion • Functional prototype developed • Algorithm tested and verified in software and hardware • Various movement control systems implemented • Algorithm and movement control function in tandem • Third place in the 2013 SAC IEEE R2 Micro-mouse competition.

  17. Questions

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