CHAPTER 2

Design of a Micromouse for Maze Solving

2.1. Overview of the Design (Hardware and Software)

The micromouse design integrates hardware and software elements to efficiently solve a
maze and requires careful planning and execution. This combination of physical components
and computational logic allows the micromouse to sense, process, and act within the maze
environment. By integrating hardware components like microcontrollers, sensors, motors,
and a reliable power supply, and combining them with efficient software algorithms, the
micromouse achieves efficient performance in navigating and solving mazes. Moreover,
hardware integration through wiring, PCB design, and systematic assembly ensures reliability
under challenging conditions.
2.1.1. The general outline

Figure 2.1. Micromouse system Block diagram

The general outline of the micromouse design combines multiple small systems to effective
performance. The system is designed with a structure of processes, which starts with power
delivery, sensor input, initialization and then processing along with output actions.
Key Components and Subsystems:
 Power Supply:
o The system begins with a reliable power source, typically a battery, to energize
all components. Power supply is one of the most important components in a
micromouse as it directly influences other components’ stability and strength.
The power supply’s size is also the biggest, so it takes up most space on the
micromouse. Therefore, careful consideration to balance the power strength
and volume of the power supply is imperative.
o Voltage regulators are also important to the system as they provide stable
power levels for the microcontroller and peripherals to ensure consistent
 operation by keeping the power source for the MCU (microcontroller unit)
stable.
 Initialization: This initialization step lays foundation for the interaction between
sensors, actuators, and computational processes. Specifically, the microcontroller
initializes the system by configuring necessary hardware peripherals such as clocks,
GPIO pins, ADC, and communication interfaces (SPI, I2C, or UART).
o System Clock Initialization: Setting the system clock to define the operating
speed of the microcontroller.
o Peripheral Initialization: setting up timers for tasks, initializing
communication interfaces protocols for sensor data acquisition and inter-
device communication.
o Pin configuration: configuring General-Purpose Input/Output pins for
interfacing with sensors and actuators.
 Libraries: These are software modules or pre-written code that provide functions to
simplify programming and control of the hardware. They interact with the hardware
peripherals efficiently.
o ADC (Analog-to-Digital Converter): Converts analog signals (e.g., from
sensors measuring distances, light intensity, or other continuous values) into
digital data that the microcontroller can process. In the micromouse, it
measures sensor data such as proximity or distance to walls and ensures the
microcontroller receives precise input for decision-making.
o GPIO (General Purpose Input/Output): Provides configurable digital
input/output pins to connect and control external devices like LEDs, switches,
or other hardware components. In the micromouse, it helps communicate with
other peripherals.
o Timers/PWM (Pulse Width Modulation): Timers are used for precise control
of time-dependent tasks like managing motor speed. PWM controls the
voltage delivered to components like motors to adjust speed and torque.
o Encoders Library: Read and interpret data from rotary encoders attached to the
motors. Specifically, it tracks wheel rotations and position to estimate the
micromouse’s current location and orientation.
 Peripheral Components: The micromouse includes various peripheral devices which
are hardware components interfacing with the microcontroller to provide data, control
outputs, or display information, such as:
o IR sensors (Infrared sensors): Detect obstacles or walls by emitting infrared
light from the IR emitters and measuring the reflection. It is commonly used in
micromouse projects because of its short range but high accuracy and low
cost.
o Motors (DC Motors): To control the physical movement and turning of the
micromouse to navigate the maze.
o Display: Can show sensor readings, battery status, or the micromouse’s current
decisions during navigation. It is useful for developers during testing and
development.
 Algorithmic Processing: The micromouse employs a maze-solving algorithm, such as
the Flood-Fill Algorithm, to determine the optimal path to the center. The process
focuses on enabling the micromouse to navigate the maze quickly with minimal
 energy use, allowing quick adaptability to new obstacles and ensuring accurate
movements along with reliable pathfinding. The process includes:
o Data Analysis: The micromouse continuously processes data collected from
sensors to build a map of the maze and make navigation decisions. This
involves wall detection, maze mapping and path evaluation which is the
continuous assessing of possible routes based on the maze’s current map to
update strategies.
o Path Planning: Identifying the best route to the goal using algorithmic
methods. Key considerations are finding the shortest path, improving
efficiency and dynamic replanning.
o Robot Control: Sending commands to actuators (motors) based on the
calculated path to adjust motor speed based on positional errors.
o Error Correction: During navigation, the micromouse may encounter issues
such as wheel slippage, sensor inaccuracies and unexpected obstacles that may
require path recalculation or other methods to prevent such errors.
2.1.2. Input -> Processing -> Output:

Figure 2.2. Hardware system architecture loop

The micromouse design incorporates a continuous feedback loop (as shown in Figure 2.2) for
seamless operation:
 Input: Sensors collect data about the maze environment like wall positions and
distances. Ultrasonic sensors detect obstacles by measuring sound wave reflections,
while IR sensors detect walls based on light reflection. These sensors are "eyes" that
provide critical information about the surroundings to be used for coordination in the
following step.
 Processing: The microcontroller plays the role of the “brain” in the micromouse. It
processes collected data to implement maze-solving algrorithms by updating the
current state, recalculating the path if necessary and issuing commands. Common
algorithms include:
o Flood-Fill Algorithm: This method maps out the maze by constantly
calculating the distance to the center.
o A* (A-star) Algorithm: A heuristic-based algorithm to find the shortest path
to the target.
  Output: The micromouse controls motors, allowing it to move forward, turn or reverse
based on planned movements from processed information. It can also issue commands
to adjust the speed and direction for more accurate navigation through the maze.
 Feedback: This step ensures that the system responds to changes in the environment
and maintains accuracy in the process. Encoders and sensors monitor real-time data,
then the system adjusts the movements and decision-making accordingly.
2.2. Hardware Design
The hardware components form the foundation of the micromouse’s functionality. Each
component is chosen and configured based on function, performance, and cost to support
efficient maze navigation.
2.2.1 Microcontroller:
The micromouse often uses microcontrollers like Arduino Nano or STM32F405RG because
they are compact, lightweight, and provide sufficient GPIO (General Purpose Input/Output)
pins for connecting sensors and motors. They also support efficient communication protocols
like SPI, I2C, or UART.
 Arduino Nano:
o Easy to use, beginner-friendly, and affordable.
o Suitable for beginners and simpler micromouse projects with fewer
computational requirements.

 STM32F405RG:
o Advantages: Higher performance strength with advanced features like faster
processing speeds, more powerful peripherals and more memory.
o Suitable for using complex algorithms like Flood-fill or A*.

We decided to use…bc of
2.2.2 Sensors:
Sensors allow the micromouse to acknowledge its environment by identifying walls, corners,
and open paths in the maze, ensuring the micromouse makes informed navigation decisions
effectively.
  IR (Infrared) Sensors:
o Emit and detect obstacles by measuring infrared light reflections.
o Compact, lightweight and power-efficient.
o Accurate in short-range detection, unaffected by ambient light.
o Cost-effective: good stability over time and battery used lasts for a long
duration.
 Ultrasonic Sensors:
o Emit sound waves and measure the time taken for the echoes to come back,
from that the distance to obstacles can be calculated.
o Good for medium-range and wide-angle detection, unaffected by lighting
conditions.
o Worse at short-range detection with slower response time.
o Consume more power, more expensive and bigger in size than IR.
Both types of sensors can be used in the micromouse and have their own advantages.
However, ultrasonic sensors also come with limitations that may negatively impact specific
requirements of a micromouse. Therefore, ultrasonic sensors are considered optional. On the
bright side, ultrasonic sensors may be used over IR sensors in several situations such as
mazes with wide maze corridors, maze walls with poor IR reflectivity or in designs that
integrate both types of sensors. A common solution is using IR as the primary sensors and
Ultrasonic as backup or for other specific purposes.
2.2.3. Motors:
 DC Motors:
o Provide smooth, continuous rotation and precise movement.
o Reliable and easily controlled.
 Encoders:
o Measure the number of rotations or distance of the wheels.
o Provide feedback for closed-loop motor control.
o Ensure accurate distance measurement, speed and direction control of turning
angles.
The micromouse uses DC motors with rotary encoders for the movement required for maze
navigation. Encoders feedback on the micromouse’s position and movement, which is
essential for correcting errors during navigation.

Figure 2.3. Wiring diagram of MCU to motor

2.2.4. Power supply:
The power supply ensures all components receive stable and sufficient power for operation.
 Battery Type:
o Lithium-Polymer (LiPo) and Lithium-ion: Lightweight and compact, along
with high energy density.
o Nickel-Metal Hydride (NiMH): Safer and more durable but heavier and
bigger.

Figure 2.4. Lithium-Polymer battery LP451528

 Voltage Regulation:
o Voltage regulators are necessary to provide stable power levels to components
like the microcontroller.
o Common regulators used are:
 LM7805 (linear): simple design, reliable and inexpensive, but less
efficient.
 LM2596 (switching): complex but far more efficient than linear
regulators.
The micromouse often uses lithium-ion or lithium-polymer batteries to power its components.
This is because they are lightweight, compact, and provide high energy density, enabling the
micromouse to operate for extended periods without needing frequent recharging. Voltage
regulators are also included to ensure a stable power supply to important components.
2.2.5. The chassis and Mechanical design
The chassis forms the physical structure of the micromouse, housing all components.
 Material: The chassis is often made with lightweight materials like aluminum or
acrylic to balance weight and durability.
 Design goal:
o Compact size for the micromouse to fit within tight maze corridors.
o Stability to prevent the micromouse tipping over during high-speed turns.
o Proper and clear mounting points for accurate installation of sensors, motors,
and batteries.
2.2.6. Printed Circuit Board (PCB)
The Printed Circuit Board (PCB) is essential in micromouse designs. It organizes and
connects electronic components, providing a compact, reliable, and professional layout for
the micromouse's circuitry. A custom PCB integrates all components into a compact and
efficient layout suitable for desired functionality.
A PCB is a flat board made of insulating material (e.g., fiberglass) with conductive pathways
drawn on it. These traces form the connection between various components, such as sensors,
microcontrollers, and motors. It brings these advantages:
 Reduce physical space by integrating all electrical connections into one single flat
board.
 Improves reliability by minimizing connection issues such as loose wires and short
circuits which are common in other kinds of board and manually installed wires.
 Clear labeling and points allow for easier debugging, troubleshooting and repair.
 Higher durability, allow the micromouse to withstand vibrations and sharp
movements.
 High customizability enables unique layouts made for specific design requirements.

Figure 2.5. A micromouse PCB design

2.2.7. Wheels and Tires
Wheels are crucial for movement and must provide good traction.
 Features:
o Rubber-coated tires for better grips to avoid slippage on maze surfaces,
especially during accelaration or on unusual surfaces.
o Balanced design to ensure stability during turns.
o Affect the precision of movements, particularly when following a planned
path or making turns.
 Wheel size: Affects speed and torque. Smaller wheels offer better control, while larger
wheels provide higher speeds.
 Common problems:
o Tires may wear out over time, sometimes unevenly which results from
frequent turn or misalignment. Therefore, frequent inspection and tire
replacement are necessary.
o Wheels may misalign so ensuring wheels are straight and centered before
moving is important.
o One should frequently remove dirt and debris that may get stuck in the tread to
ensure stable and precise movement.
2.2.8. Other Optional Hardware Components
 Display
o Displays real-time information like sensor readings, battery status, or
debugging data for easier monitoring and testing.
o LCD or OLED screens are commonly used.
 Communication Module
o Allows wireless control or data transfer.
o Bluetooth or Wi-Fi modules for remote monitoring.
 IMU (Inertial Measurement Unit)
o Combines an accelerometer and gyroscope to measure motion and orientation.
o Help improve accuracy during turns or on uneven surfaces.

2.3. Hardware Integration

Integrating the hardware components effectively is critical for the micromouse's functionality
and reliability.
2.3.1. Wiring and Connections:
Proper wiring ensures that all components, such as sensors, motors, and microcontrollers, are
connected and communicate effectively. Poor wiring can lead to signal loss or intermittent
connections, affecting performance.
 Techniques commonly used:
o Soldering wires to create connections that can resist vibrations during
movement.
o Using connectors or headers for detachable parts, making maintenance and
debugging easier.
2.3.2. Key components
 MCU (microcontroller unit): the central hub that connects all components.
 Sensors: often positioned on the side or in front.
 Motor and Drivers: A set of wheels on the side, connected to motors.
 Power supply: A battery that provides power to all components.
 Chassis: provides structural frame, holding all components secured.
2.3.3. Assembly Process:
A well-assembled micromouse ensures stability, reduces the risk of components coming loose
during operation, and improves overall performance. The micromouse's assembly involves
mounting all components securely on a chassis. The process consists of these steps:
 Circuit Design and Connections
o Map out connections between components using a schematic diagram.
o Minimize wire length to avoid confusion and increase efficiency.

Figure 2.5. A blueprint for designing a micromouse PCB

 Power Distribution
o Use independent power lines for motors and logic circuits to prevent the motor
from affecting microcontroller performance.
o Place capacitors near voltage-sensitive components to stabilize power supply
and reduce electrical disturbance.
 Sensor Placement
o IR Sensors: Mount on the front and sides of the micromouse for wall detection
and alignment.
o Ultrasonic Sensors (Optional): Position to cover longer detection ranges or
wider angles.
o Angled Mounting: Position side sensors at a slight angle for improved
coverage in corridors.
 PCB Integration
o Use a Printed Circuit Board (PCB) to replace messy wiring and organize
components neatly.
o Design the PCB to accommodate all components with adequate spacing and
include test points for debugging critical connections.
 Motor Alignment and Mounting
o Secure motors firmly to prevent vibrations.
o Align wheels precisely to ensure straight-line movement.
o Use shock-absorbing mounts to minimize mechanical stress on motors.
 Cable Management
o Route wires neatly and secure them with zip ties or organizers.
o Label wires to simplify the process of debugging and maintenance.
 Testing and Calibration: Test each component individually before integrating them
o Check sensor readings for accuracy.
o Verify motor response and direction.
o Ensure voltage levels are within acceptable ranges.
o Calibrate sensors and encoders to account for environmental variations.