Study Of Micromouse Control System Based On ARM

The micromouse is a microprocessor-controlled robot with muliple functions, including the scene understanding, dynamic decision-making and planning, behavior controling and execution. It integrates mechanics, electronics, sensors, computers, artificial intelligence and other subject knowledgement. It involves many today’s forefront technology. Its development becomes the focus of attention of many researchers at home and abroad.This paper dedicates to the Micromouse control system design and algorithms, the main work and results are as follows.(1) Starting from the overall system design, an optimal solution is selected through comparing and analysing various solutions, and the hard modules are desined. The main controller is based on the cortexM3core, high performance, low power consumption STM32F103RCT6processor, In the infrared detection module, the double T frequency selective network is chosen to percept the maze environment. The measurement of distance is implemented by receiving the reflected light intensity difference with sensor. Driver modules chooses L298N, which integrates double H bridge inside, supports high precision, low electric consumption with encoder. The motor speed function is realized by setting the PWM signal duty cycle in the fast response of Germany Faulhaber Coreless DC motor1524009SR. Human-computer interaction module uses a multi-character LCD display, which is convenient to debug the display information. In addition, the power module wich concerns the stability of the entire system seclects the switching power supply LM2596. It can work on the two statuses. One is fully turned on, another off. It can effectively reduce the "heat loss" in the work.(2) Through the equivalent conversion and formula for the double T frequency selective filter circuit, the amplitude frequency characteristics and phase frequency characteristics are analyzed by the Multisim software simulation. The hardware circuit is built. The frequency shift in the practical application is solved by the testing and analysing circuit.(3) With the analysis of the law of motion, the traditional algorithm and the classical algorithm, we choose the right hand rule based on DFS algorithm. It is a simple and efficient search algorithm, can shorten the test run and sprint time.Through the modular design, The top procedure calls the bottom function modules to realize the search task. This structure is clear and easy to understand and transplantation. The Micromouse search mazes by drawing contour map, completing data, reducing the number of SiLu walk, to shorten the run and sprint time, finally analysing the different turn weights to determine the optimal path.