Research On Micromouse System Based On Double DC-motor

The Micromouse contest has been held overseas for over30years, but thecompetition came to China just for a few years. And recent years, almost all theparticipants take Micromouse615which was provided by the organizing committee astheir entries. But as entry-level hardware platform, Micromouse615is heavier, largerand lower-speed. This paper introduces the construction of the Micromouse-maze,including the mathematical modeling, wall information storage and the basic methodof drawing the Contour map. And an optimization algorithm of U-type is proposed tosolve the redundancy of storage information in search algorithm.In order to make it runfaster, this paper proposed a new maze search algorithms called Citywall searchalgorithms and designed a DC-Motor Micromouse based on STM32from circuit designto mechanical structure design. And STM32F103RET6provides powerful peripheralsresources as the MCU. The two DC-Motors drive it into a high speed. Micromousesearches the maze and determines its position through the infrared work with NPNphototransistor. And when the Micromouse makes a turn, the gyro makes it accuratelyby feedback the parameters. All of these to make sure the stability of the hardware. Inthis paper, the infrared sensor module of computer mouse is adjusted. According to thearrangement of sensors, a procedure for exploring maze information is designed, Andaccording to the sensor feedback signal of the actual maze wall is collected and fittedto get the sensor’s distance feedback on the wall; The calibration of the signalacquisition and integral point of the gyroscope is accomplished; At last, the arithmeticof Micromouse during running is introduced in detail.