电脑鼠是一种融合了机械技术、电子技术和电机技术的小型机器人，配合先进的走迷宫算法，电脑鼠可以在竞赛迷宫中自动选择路径，并对行走路线进行最优化计算，从而实现以最短时间抵达迷宫终点。相对于日本、新加坡等国家，电脑鼠进入我国的时间并不长，目前我国对电脑鼠的研究还处于起步阶段。 本文提出了一种以直流电机为动力的电脑鼠设计方案，并对方案中各部分硬件模块和软件驱动进行了研究与设计。首先，本文对电脑鼠的车体和车轮进行机械设计，以TI公司生产的ARM Cortex-M3内核芯片LM3S1968为核心，完成对电脑鼠控制器的设计与制作，利用集成H桥芯片完成对电机驱动电路的设计与制作，利用红外线传感器完成对电脑鼠避障系统的设计与制作。其次，根据硬件电路完成了基于LM3S1968的底层硬件驱动的开发。文中对PID控制算法进行了概述，对直流电机的模型进行了分析与建立，在MATLAB/Simulink仿真环境下对PID算法进行仿真分析，结果表明在电机控制过程中引入PID控制方法后，提高了电机控制系统的响应速度，提高了系统的稳定性。 实验测试结果表明，该电脑鼠的各项基本功能达到了设计要求，能够实现直行、转弯、后退和停止等基本动作，并可以在行进过程中避障。

Micromouse is a kind of pint-sized robot which combines mechanical technology, electronic technology and electrical machinery technology, with advanced maze algorithm mictomouse can choose route in competition maze automatically and it can optimize its moving path so that it could arrive at maze destination within the shortest time. Compared with Japan, Singapore and other countries, it was not a long time since micromouse came into our country, at present the study on micromouse of our country are still at early stage. This paper brings a design which use DC motor as micromouse’s motive power, also this paper studies and designs the hardware module and software driver of each part. First of all, this paper makes the mechanical design for car body and wheel of micromouse, using ARM Cortex-M3 chip LM3S1968 produced by TI company as core to finish the design and production of the micromouse’s controller, using integrated H bridge chip to finish the design and production of motor drive circuit, using infrared sensor to finish the design and production of the micromouse’s obstacle avoidance system. Secondly, according to the hardware circuit, this paper finished programming of low lever driver which based on LM3S1968. At last, this paper summarized the PID control algorithm, analyse and construct DC motor model，then simulate the PID algorithm based on MATLAB/Simulink simulation environment, the result shows that the response speed and stability of motor control system both are improved after using PID control algorithm. After the final test, the micromouse’s performance has reached the design requirements, could finish going straight, turning, going back and stopping and other basic actions, it could also avoid obstacles on the march.