DualPath Mouse — Hybrid Navigation Prototype

DualPath Mouse — software and hardware-design prototype

DualPath Mouse is a proposed two-stage autonomous robotics control system for a single differential-drive robot. Current status: Arduino reference code, native algorithm tests, an offline browser simulation and a one-page proposed design note. A physical robot has NOT been assembled or tested.

How it works

Zone A (line tracking): Five analog IR reflective readings are converted to a weighted line-position error; a PID controller adjusts motor PWM. If the black line is lost, the firmware brakes and attempts an autonomous bounded recovery.

Zone B (maze solving): Three ultrasonic sensors survey the front, left and right walls. A portable C++ planner incrementally maps walls, explores available unvisited cells and backtracks. Wheel encoders bound cell travel and 90-degree turns. No fixed maze layout or route is encoded.

A start button enforces a 3-second delay. Motor outputs stop on detected range faults, exhausted line recovery, obstructions or encoder timeouts.

Built with

Arduino Mega 2560 C++ reference firmware, JavaScript/HTML/CSS browser simulation, C++ native tests, proposed TB6612FNG motor driver, analog IR sensors, ultrasonic sensors and wheel encoders.

Testing

The portable C++ planner passed 500 generated, connected 8x8 mazes, reaching a configured center goal without crossing a simulated wall. Additional tests checked PID sign, missing-line detection, and backtracking. The browser simulator loaded and completed a seeded run without JavaScript exceptions. These are software tests, not physical robot or real competition results.

Remaining work

Build a real robot, test power and wiring safety, calibrate thresholds and encoder geometry, measure footprint/mass, and confirm the official maze dimensions, goal definition and transition cue. Current test defaults (8x8 grid, center goal, 18 cm cells, two-sidewall entry) are unconfirmed.

Competition disclosure

This is not a qualifying physical robot demonstration. No on-site inspection, verified student/team/geographic eligibility, organizer payment or actual run score is claimed. It must not be represented as an eligible final entry without those requirements being met.

Built With

• arduino
• c++
• css3
• html5
• ir-sensors
• javascript
• tb6612fng
• ultrasonic-sensors
• wheel-encoders