Project Overview

This project is an autonomous maze-solving robot designed specifically for maze solver competitions, where speed, precision, and reliability are critical. The robot is capable of independently sensing its environment, making navigation decisions in real time, and traversing complex maze paths without any external control.

The entire system is built around a compact circular PCB with a radius of 10 cm, optimizing space utilization, balance, and maneuverability while keeping the design clean and competition-ready.

Motivation Behind the Project

Maze-solving robots are a perfect blend of embedded systems, control algorithms, sensor fusion, and power electronics. The goal of this project was to design a robot that is:

• Fast and responsive
• Electrically efficient
• Compact and mechanically stable
• Easily scalable for future upgrades

By using high-performance components like the Teensy 4.0 and Time-of-Flight (ToF) sensors, the bot achieves accurate distance sensing and high-speed decision making—both essential for competitive environments.

Control & Processing

At the core of the robot is the Teensy 4.0 microcontroller, chosen for its high clock speed and excellent real-time performance. It handles:

Continuous sensor data acquisition

• Real-time distance calculations
• Maze-solving logic (e.g., wall following or flood-fill algorithms)
• Motor speed and direction control

The processing power of the Teensy allows rapid response to changing maze conditions, enabling smoother turns and faster traversal.

Obstacle Detection & Sensing

The robot uses three VL53L1X Time-of-Flight sensors for accurate and reliable distance measurement:

Front Sensor – Detects obstacles directly ahead

Left Sensor – Monitors left wall distance

Right Sensor – Monitors right wall distance

These sensors provide precise, non-contact distance readings, allowing the robot to maintain optimal spacing from maze walls and make intelligent navigation decisions even at higher speeds.

Motor Drive & Locomotion

Motion is achieved using N20 geared DC motors paired with 34 mm diameter wheels, providing an excellent balance between torque and speed.

Motor control is handled by the TB6612FNG motor driver, which offers:

• Efficient dual motor control
• Low heat generation
• Precise speed and direction control via PWM

This setup ensures smooth acceleration, accurate turns, and consistent movement throughout the maze.

Power Management

The robot is powered by an 11.1V 3S LiPo battery (850 mAh), delivering ample energy for extended operation during competitions.

To safely power the electronics, a MINI MP1584 DC-DC buck converter is used to step down the battery voltage to required logic and motor levels. This ensures:

• High efficiency
• Stable voltage output
• Protection of sensitive components

Mechanical & PCB Design

PCB Shape: Circular

PCB Radius: 10 cm

The circular PCB design improves symmetry and weight distribution, enhancing stability during high-speed turns. All components are carefully placed to minimize wiring, reduce noise, and improve serviceability.

Conclusion

This autonomous maze solver robot is a compact, high-performance system built with competition use in mind. By combining a powerful microcontroller, precise ToF sensors, efficient motor control, and a well-designed power system, the robot is capable of fast, reliable, and intelligent maze navigation. (Arduino Code for this bot will be uploaded in github soon)

The design is modular, upgrade-friendly, and serves as a strong foundation for further enhancements such as encoder feedback, advanced algorithms, or wireless debugging.