Autonomous Maze-Solving Micromouse Robot
Hugh Rigassio, Minglan Zhou, Mahmood Amana
School of Engineering
Faculty Supervisor: Hamid Mahmoodi
This project presents the design and development of an autonomous Micromouse robot capable of navigating and solving a standard 16×16 competition maze using real-time sensing, embedded control, and optimal path-planning algorithms. The proposed system integrates ToF distance sensors, dual DC motors with encoders, and an STM32 microcontroller running a Flood-Fill maze-solving algorithm for efficient exploration and shortest-path determination. Our approach is unique because it emphasizes sensor fusion (IMU + ToF), closed-loop PID motor control, and a modular software architecture that allows separation of mapping, motion control, and decision-making tasks. The project is important for advancing hands-on education in robotics, embedded systems, and algorithmic problem solving, and it contributes to reviving interest in competitive robotics at SFSU.