PREDEFINED PATH FOLLOWING ROBOT

Abstract: Introduction: This paper provides the design and implementation details of a remotely controlled, battery-powered robot that is able to follow a pre-defined path. Robot contains mechanical systems, to make it a predefined path follower we interface the microcontroller with the stepper motors. Contents: For the design of the circuit it mainly requires two components. They are Hardware components Program using software Hardware components: The hardware components required are ATmega16 Microcontroller Motor Driver Dc Motors

Dc Motor Dc motor is a electromechanical device that converts electric energy in to mechanical energy that can be used to many useful works. This can provide mechanical movement like moving the tray of CD/DVD in and out. This shows how software controls a motor. Dc motors comes in various ratings like 6v and 12v. It has two wires. When connected with power supply the shaft rotates. You can reverse the direction of the rotating shaft by changing the polarity.here in the present circuit we use 10 rpm or 100 rpm motors depending up on the program we designed.

ATmega16 . Atmega16 is based on enhanced RISC (Reduced Instruction Set Computing) architecture with 131 powerful instructions. Most of the instructions execute in one machine cycle. Atmega16 can work on a maximum frequency of 16MHz.

ATmega16 has 16 KB programmable flash memory.ATmega16 is a 40 pin microcontroller. There are 32 I/O (input/output) lines which are divided into four 8-bit ports designated as PORTA, PORTB, PORTC and PORTD. Motor Driver: L293D is a motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and

provide a higher-current signal. This higher current signal is used to drive the motors. L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Software Required: Till now we have seen the hardware parts and connections. Now the next thing is to write the program for the robot to move in a predefined path. The AVR Studio 4 software is used to write the program in either C language or assembly language. After writing the program we generate the hex file and it is to be dumped in to the microcontroller ATmega16. For dumping another software is used.

Advantages & Disadvantages: When testing vehicles it is often difficult to assess whether changes to suspension, tyres, vehicle loading, etc. have made a significant change to the performance or stability of the vehicle. One of the main problems is that it is very hard for a driver to drive in a consistent manner and this, in turn, changes the results

between runs. So a this type of circuit is used in test runs of vehicles. The major disadvantage is this circuit requires high voltage, high power consumption. If there is any change in the path we have to change the program and it should be reloaded in the microcontroller

References:

Industrial robot - Wikipedia, the free encyclopedia Path following and obstacle avoidance fuzzy- Wikipedia, the free encyclopedia www.Extremeelectronics.co.in Microcontrollers By Udayshankara

P. Ashesh 09100896 ECE,sec-B