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Toward the Design ofToward the Design of

Autonomous RobotsAutonomous Robots

Tyler Jones

David Freiberger

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OutlineOutline

Introduction

Hardware Implementation

Conclusion

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Introduction

Micromouse Competition

IEEE Sponsored

Local, Regional and National Events

Objective: build fastest maze solving

robot

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Introduction

The micromouse must:

Autonomously navigate to the center

of a 3 x 3 meter wooden maze

Store maze layout in memory

Perform algorithm to determine fastest

path

Make speed run along fastest path

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Hardware Overview

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Hardware Overview

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MicrocontrollerMicrocontroller

Brains of the robot

Atmel ATMEGA32 RISC

Microcontroller

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Power System

Maxim MAX5091 28V, 100mA high-

voltage linear regulator

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Motor Control Section

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MotorsMotors

Faulhaber 1524 DC 6V Motors

Included Encoder and Gearhead

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Encoders

Uses counter chip to keep track of

motor turns

Maxim DS2423

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Driving Motors

Pulse Width Modulation

DPDT switch to change motor

direction

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Driving Motors

Freescale MPC17531 Dual H-Bridge

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Driving Motors

Maxim MAX4701 Dual DPDT Analog

Switch

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Sensor SectionSensor Section

Infrared LED and Phototransistor

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SensorsSensors

Detecting walls

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SensorsSensors

Dealing with noise

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LCD

Hitachi based LCD Display

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Wheels, Chassis and OtherWheels, Chassis and Other

Support FrameworkSupport Framework

Acrylic Plastic Chassis

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Full SchematicFull Schematic

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ConclusionsConclusions

Much future work needed

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EndEnd

Thanks for listening

Questions?