# MicroMouse

Autonomous robot, built from scratch · July 2025 · IoT
https://ravindu-amarasekara.webgen.cc/projects/micromouse

**Stack:** Embedded C, PID Control, Fusion 360

Autonomous maze-solving robot with PID control, encoder fusion, custom PCB and 3D-printed chassis.

An autonomous maze-solving robot built from scratch using an ATmega328P microcontroller (Arduino Nano). This MicroMouse navigates through unknown mazes using the left-hand rule algorithm, combining ultrasonic sensor feedback with motor encoder data for precise movement control.  
  
The robot features a dual feedback control system that fuses:  
  
PID-based wall following using 3 HC-SR04 ultrasonic sensors  
Encoder-based dead reckoning for accurate turns and straight-line tracking  
  
Goal: Design and build a fully autonomous robot capable of navigating and solving standard maze configurations without human intervention.

## Links

- [Demo Video](https://www.youtube.com/watch?v=mDKhOKRyAyE)
- [Source Code](https://github.com/Ravinx001/MicroMouse)