Ramrod III

1
Ramrod III

• Micro mouse

2
The Team

• Andrew Igarashi software
• Kevin Li hardware
• Stephen Nakamura hardware
• Quang Ngu software

3
Project Overview

• To design a fully autonomous robot that can move
  through the maze
• Top down sensors locate walls around the mouse
• Programmed in Dynamic C to locate the center

4
Our Approach

• Bottom up approach
• Build chassis and frame
• Install motor and sensors
• Test proper operation using Dynamic C

5
Block Diagram
Micromouse
Programming
Design / Hardware
Control
Solving
Batteries
Motors
Sensors
6
Sensors (Eyes)
Sensor Pad1
Sensor Pad2
Walls
16x16 Cell
7
Sensor Pad 1
Sensors
Sensors
Wall
Wall
8
The Map
Start
9
The Map

• Overwrite starting cells with value 10 until
  first multiple choice turn
• Overwrite cells with value 10 after hitting a
  dead end

10
Delays

• Used to prevent phantom walls
• Used dummy variables hold delay values
• Ex.
• If tracking sensors are on for more than X
  miliseconds, then adjust
• If there 1 pad detectors nothing for more than X
  seconds, then it is ok to turn

11
Turning

• One Choice
• Force Case
• Two Choices
• Straight or Left
• Straight or Right
• Right or Left
• Three Choices
• Right, Left, or Straight

12
Specific Case
Front of the Mouse
3
3
3
3
3
3
This algorithm tells the mouse which cell is
closer to the middle and gives preference to that
cell. If it is not possible to move to a lower
value, then move to a cell with equal value, if
even that is not possible as shown above, then
move to a cell with a greater value.
2
1
13
Where To Go?
Front of the Mouse
3
3
3
3
3
3
This is a special case when the Algorithm is in
confusion. Since both cells are of equal value.
To get around this, we have the mouse remember
what type of turn previous to the 180 turn was
executed. If this certain turn was a right turn
(like in the last slide), when the mouse reaches
the wall, we will give preference to a right
turn. Vice Versa for left turns. If the mouse
did not make any 180 turns, then it will act on a
set initial turn.
The mouse will reverse only to adjust itself so
it wont hit the wall. The cell behind the mouse
is not an option.
2
1
14
Problems While Testing

• Wall detection and sensor problems
• Heat
• Wires coming loose
• Not enough voltage
• Cell counting / Solving

15
Position Correction
161
171
151
141
131
121
Out of Bounds
161
152
161 10 151
16
Outstanding Problems

• Inconsistent results
• Wall detection
• Alignment
• Algorithm / Mapping

17
Updated Schedule