Design and realization of two-wheel micro-mouse diagonal dashing

Abstract

In order to reduce micromouse dashing time in complex maze, and improve micromouse’s stability in high speed dashing, diagonal dashing method was proposed. Considering the actual dashing trajectory of micromouse in diagonal path, the path was decomposed into three different trajectories; Fully consider turning in and turning out of micromouse dashing action in diagonal, leading and passing of the every turning was used to realize micromouse posture adjustment, with the help of accelerometer sensor ADXL202, rotation angle error compensation was done and the micromouse realized its precise position correction; For the diagonal dashing, front sensor S1,S6 and accelerometer sensor ADXL202 were used to ensure micromouse dashing posture. Principle of new diagonal dashing method is verified by micromouse based on STM32F103. Experiments of micromouse dashing show that diagonal dashing method can greatly improve its stability, and also can reduce its dashing time in complex maze.

Keywords

Micromouse diagonal dashing servo accelerometer STM32

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