Design And Realization Of The Maze Micromouse Based On ARM Cortex-M3

Micromouse is a kind of pint-sized robot which combines mechanical technology,electronic technology and electrical machinery technology, with advanced maze algorithmmictomouse can choose route in competition maze automatically and it can optimize itsmoving path so that it could arrive at maze destination within the shortest time. Comparedwith Japan, Singapore and other countries, it was not a long time since micromouse came intoour country, at present the study on micromouse of our country are still at early stage.This paper brings a design which use DC motor as micromouse’s motive power, alsothis paper studies and designs the hardware module and software driver of each part. First ofall, this paper makes the mechanical design for car body and wheel of micromouse, usingARM Cortex-M3chip LM3S1968produced by TI company as core to finish the design andproduction of the micromouse’s controller, using integrated H bridge chip to finish the designand production of motor drive circuit, using infrared sensor to finish the design andproduction of the micromouse’s obstacle avoidance system. Secondly, according to thehardware circuit, this paper finished programming of low lever driver which based onLM3S1968. At last, this paper summarized the PID control algorithm, analyse and constructDC motor model，then simulate the PID algorithm based on MATLAB/Simulink simulationenvironment, the result shows that the response speed and stability of motor control systemboth are improved after using PID control algorithm.After the final test, the micromouse’s performance has reached the design requirements,could finish going straight, turning, going back and stopping and other basic actions, it couldalso avoid obstacles on the march.