Ying Hai Wang

Study on Flood-Fill Algorithm Used in Micromouse Solving Maze

Micromouse is a small autonomous electronic-mechanical robot, which is able to navigate through an unknown maze from the start to the destination. The main challenge for micromouse is to work out the maze after searching, find the optimum path for the shortest fast-run time and control the robot to win. Flood-fill algorithm is used in this project to develop a solver which is able to help the robot for finding the ‘best’ route from the starting position to the ‘goal’, maze solving result shows the correctness.

Calibrate a High Speed Micromouse with VB

To meet the special requirement of high speed micromouse, FPGA was added into the system. This document explains and demonstrates how to celibate a micromouse based on MCU and FPGA under the help of VB. Micromouse running pictures in the maze illustrate the micromouse prototype and calibration of micromouse very good, which can meet the fast exploration and dashing requirements of micromouse.

Two Axes Micromouse PWM Generator Based on FPGA

This document explains and demonstrates how to design two axes micromouse PWM generator based on FPGA, the top module based on FPGA is divided into Motor Control module, address decoder, mux output and bi-directional buffer module. Simulation results of every module illustrate the design can be very good to meet the fast exploration and dashing requirements of micromouse.

Analysis of Halbach Permanent Magnet Synchronous Motor with Ironless Rotor Based on AYSYS

Modern motor needs high power density and low rotary inertia,which can improve its dynamic characteristics.Traditional permanent magnet motor shows its limitations.A new structure of ironless rotor motor is proposed. Finite element analysis based on ANSYS proves that the new design not only can increase the motor air gap flux density, but can make the use of ironless rotor rotor become reality. From the relationship curve between air gap flux density and ironless material width, can easily find the ideal width of ironless material of the motor.

Servo Motor Control System and Method of Auto-Detection of Types of Servo Motors

Mixture of DC brushed motors and DC three-phase brushless motors has been employed in complicated robotic systems, in order to control different types of motors may using commercial chipsets. Although these commercial chipsets are capable of driving different types of motors, the users are required to define the type of motors they are controlling through software. Defining the type of motors wrongly may damage the motors. Moreover, if a motor is replaced by another type, users would need to modify the software. The paper provides an auto-detection module that can be employed in a servo motor control system with a hybrid commutation control, wherein the hybrid commutation control can drive either a DC brushed motor or a DC brushless motor.

Software Design of Micromouse Motion Control

Micromouse is a small autonomous robot, which must navigate itself through an unknown maze from the start to the destination.One of the main challenges for micromouse is to control its two motors, which are used to control micromouse’s motion in solving the maze. Detailed design of an improved PD controller is given,which has to update the velocity and acceleration values of the motors when it wants to control the robot. Motion profile generator and motion command execution routine is designed to output a smooth motion for the robots.

Software Design for Micromouse Straight Path Navigation

Micromouse is a small autonomous robot, which must navigate itself through an unknown maze from the start to the destination. The main challenge for micromouse is to solve the maze information after searching to find the optimum path. Normally, the micromouse has to remain in the centre of the cells when traveling in the maze, In order to ensure the correctness of position, detailed design of software for micromouse navigation in straight path was designed.

Software Design for Micromouse Special Navigation

Micromouse is a small autonomous robot, which must navigate itself through an unknown maze from the start to the destination. The main challenge for micromouse is to solve the maze information after searching and find the optimum path. In order to ensure the correctness of maze information, software for micromouse navigation in some special position was designed.

Micromouse Digital Circuits Design with FPGA

Micromouse is a small autonomous robot, which must navigate itself through an unknown maze and solve the maze information.One of the main challenges for micromouse is to solve the maze after searching and find the optimum path, then the mouse must dash from the start to desitnation in the shortest time possible using its own artificial intelligence without any external source of help. In order to increase its dash speed and stability,detailed design of digital cirucits based on FPGA were given, also with their simulaiton. Results show that digital circuits can check and ensure the reading of encoder, and can change the duty cycle of PWM output.

Micromouse Solve Maze Based on Flood-Fill Algorithm

Micromouse championship is an international robotics competition is an event where small robot micromouse solves a 16x16 maze. Use center rule + straight-right rule the micro-mouse can quickly explore the unknown maze and find their way from a predetermined starting cell to the central area of the maze, then back to the starting cell. Map out the maze and use flood-fill algorithm to find an optimal route from the starting cell to the center cell, the micromouse will run that route in the shortest possible time.