We are developing a fully autonomous micromouse robot designed to explore and solve unknown mazes using real time mapping and shortest path optimization algorithms. This project focuses on embedded systems architecture, real time control, and memory efficient path planning under competition constraints.

The goal is to design a system capable of:

• Exploring an unknown maze autonomously

• Building an internal grid-based map in real time

• Computing the shortest path to the goal

• Executing a high-speed optimized run

Software & Embedded Algorithms (In Progress)

The firmware architecture is being designed around a deterministic real-time control loop that integrates sensing, mapping, and motion control. Current development includes:

• Grid-based maze representation using memory-efficient data structures

• Implementation of a flood-fill–based shortest path algorithm

• Dynamic wall detection and map updating during exploration

• PID-based motion control for straight-line stability and precise 90° turns

Optimization efforts are focused on reducing control latency, improving turn accuracy, and refining path recomputation logic as new maze data is discovered. Future enhancements include:

• Acceleration profiling for high-speed final runs

• Motion primitive optimization for smoother cornering

• Further control-loop timing refinements

Hardware Architecture

The hardware platform is being designed for:

• Fast sensor-to-microcontroller response

• Stable PWM-based motor control

• Reliable distance sensing for accurate wall detection

• Optimized power delivery under acceleration load

Sensor calibration and placement are currently being refined to ensure consistent wall-distance measurement and alignment within maze corridors. The electrical layout is also being optimized to reduce noise interference and maintain signal stability during rapid motion.

This Project is completed under the IEEE MicroMouse Club at California State University Chico

Mechanical System Design

The mechanical structure is being engineered to support:

• Compact micromouse competition dimensions

• Balanced weight distribution

• Low-friction drivetrain

• Stable high-speed turning dynamics

Chassis alignment and rigidity are being tested to ensure consistent sensor orientation and repeatable movement accuracy.

In Progress