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