ESCUELA SUPERIOR POLITECNICA DE CHIMBORAZO

FACULTAD DE INFORMATICA Y ELECTRNICA

INGENIERIA ELECTRONICA EN CONTROL Y REDES INDUSTRIALES
FUNDAMENTALS OF ROBOTICS

DESIGN AND BUILDING OF A MAZE ROBOT

Authors:
Dayana Carrillo Caldern
d_ayis20_dc@hotmail.com
Jessica Glvez
Flaca20031993@hotmail.com
Franklin Jara Moncayo
Franksk8_jara@hotmail.com
Francisco Mndez
xavidytuconejito@hotmail.com
ABSTRACT. - In this paper all parameters for our maze robot which contains a free software that manages Arduino ,
sensors , cables , so that we can design our very similar to a shopping structure is exposed . The maze robot is built by
Arduino which is responsible for control by the signals receptan of sound sensors possessing mobility and dexterity that it
has to find a way to take you from start to finish according to the this priority is granted and so to fulfill its task of
completing the track maze. presenting the main details of hardware and software of a robot that is capable of moving
through a maze , following rectilinear trajectories with deviations at 90 or 180 with the detection of an edge or wall of the
maze, when it gets in the right way .

KEYWORDS: actuators, sensors, maze, mobile robot,

arduino, Ultrasonic.
I.
INTRODUCTION
Robotics and Electronics areas are important
because they allow us to create an unlimited number
of practical applications. Today mobile robotics has
become a topic of great interest, because
development has major projects in the world with the
help of mobile robots.

Three ultrasonic sensors HC- SR04 of which two

were arranged on the sides of the chassis of the
robot to measure the distances to the corridor
walls of the maze and a front sensor HC- SR04 to
detect an obstacle ( example. end were used
corridor).

The aim was to develop and implement an

autonomous robot capable of navigating a maze ,
with a distance between walls of the corridors of
minimum
20 inches and a maximum of 300 centimeters.

Regarding the programming code that can

command the various electronic components
input and output interface Arduino was used.

Based on "Arduino " open electronic platform

( hardware source and open ) allowing based
prototyping hardware software and flexible [1]
prototype was designed .

II.

CONTENT DEVELOPMENT
MAZE ROBOT STRUCTURE

In particular, for the construction of the robot control

system an Arduino Uno was used [2] , ultrasonic
sensors to measure distances and servos modified
to achieve the displacement of the robot in the maze
(Fig 1).

Several features that affect the successful

implementation thereof is taken into account.

ESCUELA SUPERIOR POLITECNICA DE CHIMBORAZO

FACULTAD DE INFORMATICA Y ELECTRNICA
INGENIERIA ELECTRONICA EN CONTROL Y REDES INDUSTRIALES
Chassis
Monements
Sensors
Processor (Arduino)
Actuators (Motors and wheels)

next object distance that is in a range from 2 to

450 cm.

A. The Chassis
The chassis design is a very important factor in the
success or failure of the implementation of the robot,
since according to its shape allows us to perform
movements with varying degrees of accuracy within
the maze.

They work by sending and receiving ultrasonic

pulses and contain all the electronics in charge of
measurement. Its use is based on sending a start
pulse and timing the return pulse after reflection
on the object.

For this case, a square frame which will contain the

Arduino sensors and other elements was designed.

3 Similar sensors are used to detect obstacles in

the robot, one located in the front and two on the
sides (fig. 4).

" The circular form , together with other features of

implementation, allow us to perform movements
more accurate (this form is used to make the rotation
center of the circle is exactly the center of the
chassis ) . "The elements used for construction are
acrylic and other materials.
B. Movements
The path that takes the robot in the path of the
labyrinth is straight with turns 90 or 180 when it
detects a new road or obstacle ( end of the road )
that allows you i prevents further his career.
The drive used is differential (fig. 2), which causes
the spins are simpler and also allows movement
without more space than is occupying (rotates on its
axis).

D. Processor (Arduino)
The Arduino is already pre-built out of the box;
that will be used later when we finally build the
program and test out the robot. This is the brain
of the robot; this will hold the code that will allow
the robot to follow the line and this will have most
of the signal connections plugged in from the
motor control board and sensors.
Arduino is
a
family
of single-board
microcontrollers, intended to make it easier to
build interactive objects or environments. The
hardware
consists
of
an open-source
hardware board
designed
around
an
8
bit Atmel AVR microcontroller
or
a
32-bit
Atmel ARM.
Current
models
feature
a USB interface together with six analog input

Another aspect of the design was defined a priori

was the location of the wheels, as this also impacts
on the location of the center of rotation.
C. Sensors
The distance sensors used are ultrasonic HC- SR04
(fig. 3). These are able to detect and calculate the

ESCUELA SUPERIOR POLITECNICA DE CHIMBORAZO

FACULTAD DE INFORMATICA Y ELECTRNICA
INGENIERIA ELECTRONICA EN CONTROL Y REDES INDUSTRIALES
pins and 14 digital I/O pins that can accommodate
various extension boards (fig. 5).

They are small in size but pack a big punch and

are very energy efficient. Because of these
features, they can be used to operate remotecontrolled or radio-controlled toy cars, robots and
airplanes. Servo motors are also used in
industrial
applications,
robotics,
in-line
manufacturing, pharmaceutics and food services.
But how do the little guys work?
The servo circuitry is built right inside the motor
unit and has a positionable shaft, which usually is
fitted with a gear (as shown below). The motor is
controlled with an electric signal which
determines the amount of movement of the shaft.

Software:
The Arduino integrated development environment
(IDE) is a cross-platform application written in Java,
and derives from the IDE for the Processing
programming language and the Wiring projects. It is
designed to introduce programming to artists and
other
newcomers
unfamiliar
with
software
development. It includes a code editor with features
such as syntax highlighting, brace matching, and
automatic indentation, and is also capable of
compiling and uploading programs to the board with
a single click. A program or code written for Arduino
is called a sketch.

Usually there are two movement systems for

robots:
1. Wheel
2. Tank system

E. The Actuators (Motors and wheels)

The movement system is an important part of a robot
and its objective is how to move robot from one point
to another point. This system has some details which
show us how to use motors and wheels. There are
many kinds of motors and wheels. Our choice is
dependent on the robot function, power, speed, and
precision.

It is better to use wheels for line follower robots.

We can use three wheels. Two of them are joined
to the motors and installed rear the robot and the
other wheel is free and installed front of the robot
as a passive caster.

Ball Caster

We used two servo motors because, Servo

motors (fig. 6) have been around for a long time and
are used in many applications.

This will be the front-turning wheel that will allow

the robot to swivel one way or the other without
scraping the chassis. The ball caster is easy to
mount; add the spacer to give it enough height so
that the platform stays level with the ground (or
you can leave it out as long as the sensors that
will be mounted are not too close to the ground)
(fig. 7).

ESCUELA SUPERIOR POLITECNICA DE CHIMBORAZO

FACULTAD DE INFORMATICA Y ELECTRNICA
INGENIERIA ELECTRONICA EN CONTROL Y REDES INDUSTRIALES

FIG 7 Ball Caster

III.

APPLICATION OF CONTROL OF MAZE

ROBOT

Began a functional diagram of the whole system

(Fig. 8). The algorithm used to control the actuators
from the information obtained from the sensors S1
(left laterial sensor ) S2 (front sensor) and S3 ( right
side sensor ) can be seen there. The following
convention is used : If the sensor Si = 1 means that it
is sensing a nearby wall , therefore no rotation to
that side is enabled and if Si = 0, the corresponding
rotation is enabled.

IV.

CONCLUSIONS

The realization of this project enabled us to

strengthen our knowledge of mobile robots to
maneuver them power and control over it.
Line robots followers are mobile robots that
follow a single path usually marked with a
black line.
The locations of the sensors responsible for
maintaining the follower on the line are
essential, because otherwise the robot will
not perform desired.
Servo motors and wheels must be in the
correct axis for the robot to function properly
in designated paths.

ESCUELA SUPERIOR POLITECNICA DE CHIMBORAZO

FACULTAD DE INFORMATICA Y ELECTRNICA
INGENIERIA ELECTRONICA EN CONTROL Y REDES INDUSTRIALES
Servomotors show the speed with which the
follower moves.
Tires gives us support our tracker addition of
balance.
The main objective, which the project was, in this
case a line follower robot, thanks to the
knowledge acquired in the subject and
collaboration of family and friends we achieved.

The actuators must be properly truncated at the

required angle axis, otherwise the follower will not
work correctly in the trajectories.

Correctly connect our sensors, since they depend

on the movement of the actuators.
VI.

REFERENC

[1] Arduino: www.arduino.cc

[2] Arduino Uno:
www.arduino.cc/en/Main/arduinoBoardUno

The power stage and control stage are separate

circuits that are intertwined by the Arduino Uno,
which in turn serves as a source and driver
inputs analog to digital converted by means of
an operational in response to the movement of
the robot.
V.

[3] Mccomb G The robot builders bonanza,

TAB Books, United States of America,1987
[4] Halliday, D. Fsica Volumen 1, Compaa
editorial continental, Mxico, Dcima
segunda impresin.

RECOMENDACIONES

We must be careful when connecting our arduino

because we could burn.