1.1 Objective
Create an autonomous robot, which will be able to navigate through a maze without
human intervention. Supplement academic studies of engineering with hands on
experience through a senior project. The project will involve a number of academic
disciplines such as programmable logic devices, Micro Controllers, Motor Controllers,
Artificial Intelligence algorithms and Firm Ware. Additionally, to enter the autonomous
robot into the micro mouse competition, so its performance could be compared against
other equivalent robots.
1.2 Approach
The approach that is to be taken to complete the micro mouse, will be divide into four
components, that is to be accomplished by a team of engineers.
1.2.1 Data Feed Back, Sensors
Sensor will act as the eyes of the micro mouse. Sensors will be required on all
four sides of the robot, to indicate the position of the walls, during a run. The
project will require the use of a data feed back system of the motion of the mouse
through the maze. This will be accomplished by using optical sensors,
perpendicular to the floor, that will indicate change in a two dimensional space.
1.2.2 Software
Software will be needed to create artificial intelligence algorithms and a tracking
system. All decisions that must be made during a run will also be made through
software, such as when to either go left or right.
1.2.3 Processing Unit
The system control of the micro mouse will be divided into two units a FPGA and
Micro Processor. The microprocessor that will be used is a Handspring Visor,
which is using a Motorola processor. The FPGA will control all peripheral
devices and allow for the microprocessor to indirectly control decisions by
feeding data back to the FPGA. The microprocessor will not have to control any
peripheral devices; its only purpose will be to run artificial intelligence
algorithms, and a tracking system.
1.2.4 Mechanical
The mechanical motion of the micro mouse will be using differential two-wheel
drive system. This will require an H-Bridge motor speed controller, so that speed,
direction and braking could be controlled. The competition also has specific
physical limitations on the micro mouse’s size.
1.3 Application
The name given to the competition and project, is a very childish name
considering the impact the robotics have done to our lives, and will do in the near
future. Possible application could be directed toward civilian and defense
applications. Such as using searching robots to explore locations that could be
hazardous and dangerous to human life.
Micro Mouse Contest
IEEE sponsors the micro mouse contest, and competitions occur annually. This year
South Western Division was at CSUN. (California State University of Northridge)
The rules are that the robot must be fully autonomous. The robot then must be able to
solve maze, with no pre-knowledge of the maze, just as a mouse does in labs hence the
name of the competition.
A robot is allowed up to 10 minutes and can make as many runs in that given
time; all runs begin from the same point.
The walls of the maze are 5 cm high and 1.2 cm thick
The destination goal is the four cells at the center of the maze. At the center of
this zone is a post, 20 cm high and each side 2.5 cm. (This post may be removed
if requested.) The destination square has only one entrance
The maze is composed of 16 x 16 unit squares where each unit square is 18 x 18
cm.
4. Organizing a Team.
The micro mouse competition allows for a team of up to five students. The project could
be broken up into five main area’s which could open to other interested IEEE students,
the list of positions are listed below
4.1 Analog Engineer
Research, Design, and configure analog components. Analog components will
include an H-Bridge, proximity sensors, batteries and a feed back system for
tracking & rotating. Requirements will also include regulating and satisfy all
power requirements, and designing any analog circuitry that might be required.
4.2 AI engineer
Design and implementation of decision system, Research will be required to find
an AI design that could meet the designs, requirements of cost and time.
4.3 Embedded engineer
Research and design a system that would allow for communication between the
FPGA and PDA. Also design any needed interface that might be needed for the
micro mouse.
4.4 Control engineer
Design and implement into a FPGA a control system. Communicating with
analog and embedded engineers to design a control system, to control peripheral
devices and communicate with the PDA.
4.5 Mechanical engineer
Design and research of all mechanical requirements of the projects, also must
ensure that all devices are able to fit, while considering heat management