Maze solving autonomous mobile robot "Micromouse" (2022)

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Description

This was my final project for the course “Operating systems” which consists of developing from scratch an autonomous mobile robot capable of solving mazes by its own. These kind of robots are pretty common in a type of competition which is called Micromouse, they are pretty popular in Asia, UK, and USA, but is really uncommon in Mexico so I decided to develop a prototype on my own. This project was developed using an STM32F103C8T6 and using FreeRTOS to perform concurrency between the specific tasks of the robot.

My contribution to the project was:

  • Developed the entire mechanic system of the robot by using 3D printed parts and developed the electronic system of the robot
  • Developed the odometry system from scratch and optimized it for a low-performance Microncotroller
  • Developed the optimized PID controller to make angle corrections of the robot according to a goal point and the actual pose of the robot.
  • Reverse engineer and developed the maze-solving algorithm for a low computing performance robot based on different papers and different robots from online resources (Presentations, Videos, Repositories). The proposed maze-solving algorithm was a specifically modified Floodfill algorithm for this type of task.
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