The Inception of Chedda: A detailed design and analysis of Micromouse

....................................................................................................................................... 2 Problem Statement .................................................................................................................... 4 Background Information .......................................................................................................... 5 History of Mazes....................................................................................................................... 5 History of the IEEE Micromouse ............................................................................................ 8 Hardware .................................................................................................................................... 10 Block Diagram ........................................................................................................................ 10 Motors ...................................................................................................................................... 11 Power ....................................................................................................................................... 20 Sensors .................................................................................................................................... 30 Chassis .................................................................................................................................... 38 Software...................................................................................................................................... 39 Flowchart ................................................................................................................................. 39 Algorithm.................................................................................................................................. 40 Testing and Simulation........................................................................................................... 45 GP2D120 IR Distance Sensor ............................................................................................. 45 Button Debounce.................................................................................................................... 48 Social Implications .................................................................................................................. 50 Safety and Ethics ..................................................................................................................... 54 Economics ................................................................................................................................. 57 Future Work ............................................................................................................................... 58 Conclusions............................................................................................................................... 59 Acknowledgements ................................................................................................................. 60 Works Cited ............................................................................................................................... 61 Appendix .................................................................................................................................... 63 Schematic ................................................................................................................................ 63 Datasheets .............................................................................................................................. 66 Rules ........................................................................................................................................ 69