Toward the Design of

Autonomous Robots

Tyler Jones
David Freiberger

1
Outline

 Introduction
 Hardware Implementation
 Conclusion

2
Introduction

 Micromouse Competition
 IEEE Sponsored
 Local, Regional and National Events
 Objective: build fastest maze solving
robot

3
4
Introduction

 The micromouse must:

 Autonomously navigate to the center
of a 3 x 3 meter wooden maze
 Store maze layout in memory
 Perform algorithm to determine fastest
path
 Make speed run along fastest path

5
Hardware Overview

6
Hardware Overview

7
Microcontroller

 Brains of the robot

 Atmel ATMEGA32 RISC
Microcontroller

8
Power System

 Maxim MAX5091 28V, 100mA high-

voltage linear regulator

9
Motor Control Section

10
Motors

 Faulhaber 1524 DC 6V Motors

 Included Encoder and Gearhead

11
Encoders

 Uses counter chip to keep track of

motor turns
 Maxim DS2423

12
Driving Motors

 Pulse Width Modulation

Vout 20% duty cycle
8V

DC average = 1.6V
t
period

 DPDT switch to change motor

direction INx

OC1x

H-Bridge Motor

GND
13
Driving Motors

 Freescale MPC17531 Dual H-Bridge

14
Driving Motors

 Maxim MAX4701 Dual DPDT Analog

Switch

15
Sensor Section

 Infrared LED and Phototransistor

16
 Sensors

 Detecting walls

17
Sensors

 Dealing with noise

18

18
LCD

 Hitachi based LCD Display

19
Wheels, Chassis and Other
Support Framework
 Acrylic Plastic Chassis

20
Full Schematic

21
Conclusions

 Much future work needed

22
End

 Thanks for listening

 Questions?

23