Obstacle Avoidance Robot

What Is Robotics ?

The word robotics is used to collectively define a field in engineering that covers the mimicking of various human characteristics. It must be able to perform certain tasks we set for it.

The desired task must be achieved within some given limitations.

It may be human controlled or automatic.

A Basic Structure Of Obstacle Avoidance Robot

Why Robotics?

Mobile robots perform various ways of tasks to serve humans No human guidance is required This sort of project is very much useful in the industries where the automated supervision is required

What is Obstacle avoidance?

A Path Describing The Purpose Of This Type Robot

OUR ROBOT:-

In this project our robot senses any obstacle in its path, avoids it and resumes its running

Involves the pre-computation of an obstacle-free path which a controller guides the robot

COMPONENTS:-

IR Sensor(Transmitter and receiver)

Microcontroller
Driver IC Motor

Block diagram:-

Circuit Diagram:-

IR Sensor:-

About

(IR) sensors based on reflected amplitude of the surrounding objects Non-linear and depends on the reflectance characteristics of the object surface

IR sensors able to accurately measure distances with reduced response times

IR Sensor:-

Types:

ACTIVE INFRARED SENSORS

Break Beam Sensors

Reflectance Sensors

IR Transmitter and reciever:About:

Mainly used to generate IR signal

Uses timer IC555 in astable multivibrator mode to generate square wave

Continuous pulses of 50% duty cycle of frequency 38 KHz

IR Sensor:-

Application:

Widely used for distance measurement purposes Surface feature detection Barcode decoding As a tracking system

Microcontroller(8051)

Microcontroller(8051):About:

Single integrated circuit containing a processor core, memory, and programmable input/output peripherals

Program memory in the form of NOR flash or OTPROM is also often included on chip
Microcontrollers are used in automatically controlled products and devices Make it economical to digitally control even more devices and processes

Driver(L293D):-

About:

The L293D is a quadruple half H-bridge bidirectional motor driver IC Can drive current of up to 600mA with voltage range of 4.5 to 36 volts Drive small DC-Geared motors, bipolar stepper motor

D.C Motor:-

Stepper Motor D.C Geared Motor

D.C Geared Motor:

Free running torque & current are ideally zero Increased load implies, increased torque, current drawn & power consumption Power supplied by a motor is the product of output shafts rotational velocity & torque Can run in both directions

Stepper motor:

Used for measured rotation Can be held at a particular position of the shaft Ideal for many autonomous robots requiring higher precision

Single Coil Excitation

Double Coil Excitation

Obstacle Avoidance/Detection Algorithm.

Case1: No obstacles(3 sensors are deactivated)

Case 2 :Obstacle detected on right side:

Case 3: Obstacle on the Left side

Case 4: Obstacle in front of the robot

ELECTRICAL DESIGN:-

Wiring

Layout
Implementation transmitter circuit Power supply

Wiring and layout(PCB)

Implementation of transmitter

Power Supply System:

Suitable power source is needed to run

the

robots

Mobile robots are most suitably powered by batteries The weight and energy capacity of the batteries may become the determinative factor of its performance

MECHANICAL DESIGN:

Design of chassis/body

Alignment of circular wheels

Fixing motors Screwing of PCB

Applications:-

The modification of this logic has been

specially designed for vacuum cleaner.

Just by making small changes in software this

system can be used for avoiding concealed paths.

With proper programming we can use it as a

weight lifter, auto parking assistance.

FURTHER IMPROVEMENTS & FUTURE SCOPE :

Adding a Camera

Use as a fire fighting robot

References:-

www.google.co.in www.wikipedia.com

www.fadooengineers.com
www.slideshare.com www.mycollegeproject.com