Page d'accueil

Algernon: Design of a Micromouse Robot With a Remote Debug Interface

This work presents the complete process of designing, assembling, and testing a custom-built autonomous robot, inspired by micromouse competitions where small robots autonomously navigate a maze in the shortest possible time. The primary objective was to design a micromouse from the ground up, integrating both electrical and mechanical components, and developing a custom printed circuit board (PCB). A functional prototype of the robot was successfully assembled and tested.

The robot is equipped with five Time-of-Flight (ToF) distance sensors, an accelerometer, and two brushed DC motors with magnetic encoders. The control system is based on an ESP32-S3 microcontroller, powered by a 2P1S LiPo battery. On the software side, each sensor was tested independently to ensure proper functionality. Basic odometry was implemented to track the robot's position, along with speed regulation for the motors. The robot achieved a maximum speed of 1.05 m/s and a maximum acceleration of 1.5 m/s². Additionally, a remote debugging interface using Wi-Fi was developed, enabling real-time monitoring of the robot's status.