A LEGO Maze Racing Robot

Over the past few years, the IEEE Region 5 Conference has included a Micro Mouse Maze Competition. Using the LEGO RCX controller, I created a simple two-wheeled robot as seen below. To improve accuracy in navigation, I implemented a proportional-derivative control algorithm to ensure straight movement down the center of the hallways. •

Sensors: One standard LEGO light sensor. Three LEGO-compatible infrared sensors from www.HighTechnicsStuff.com.

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Motors: Two standard 9.6 [V] LEGO high-torque motors.

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Wheels: Two standard 4.3-cm LEGO wheels mounted directly to the motor shafts.

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Structure: LEGO bricks.

Schematic of the two-wheeled robot.