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Vol. 168, Issue 4, April 2014, pp. 120-126




Turnings and Its Calibration of Micromouse Based on ARM9 and FPGA

1, 3 Zhang Haoming, 2 PEH Lian Soon, 3 Wang Yinghai

1 Department of Electrical and Information Engineering, Tongling University, Anhui Province, 214000, China
2 Shining Sunshines Global Pte Ltd, Singapore
3 School of Electrical and Information Engineering, SIPIVT, Jiangsu Province, 215123, China
1 Tel.: 13013801792

1 E-mail: zhm20060616@163.com


Received: 19 January 2014 /Accepted: 7 March 2014 /Published: 30 April 2014

Digital Sensors and Sensor Sysstems


Abstract: Micromouse is an intelligent robot that is designed to search a shortest path to the destination in an unknown maze. In order to meet micromouse special requirements: rapidity and stability, traditional single core micromouse control system is improved, and dual core control system based on ARM9 and FPGA is proposed, stepper motor is substituted by DC motor. In order to improve micromouse competition results, reduce run time of micromouse in complex maze, fast turning principle of micromouse is analyzed in detail, using different parameters to control its acceleration, speed and position, and other parameters to calibrate its attitude, which can ensure the rapidity, accuracy and good stability of micromouse in high speed turning.


Keywords: Micromouse, Maze, Turning, Calibration.


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