Obstacle Detection Robot

Obstacle Detection Robot

• 1.
  Design And ImplementationOf Obstacle Detection Algorithm In Robotics Team Members V.MANIKANTA TAMMI RAJU (126Q1A04D2) P.MALLI BABU (126Q1A04D5) J.SIVANAGESWAR RAO (126Q1A04D4) M.NOOKA RAJU (126Q1A04G4) S.RANGAYYA NAIDU (126Q1A04E3) Under The Guidance Of Ms. N.Archana
• 2.
  Content : • Abstract •Hardware Components • Software Components • Block Diagram • Pin Diagram Of AT89S52 • Features Of AT89S52 • IR Sensor • DC Motor • L293D-Motor Driver IC • LCD • LM324 • Kiel Software • Embedded C • Advantages • Applications • Conclusion • Working Model • Future Aspects.
• 3.
  Abstract Robotics industry hasreplaced human efforts gradually in performing rather difficult tasks. A very pertinent aspect of an intelligent security robot is to reach the goal safely by avoiding unknown obstacles in an unknown environment. In this paper we have developed an embedded C program code to design an intelligent robot which can overcome the obstacles coming in its way. We have made use of three infrared sensors to detect the obstacles via the infrared communication technique. The infrared transmitter sends out infrared radiation in a direction which consequently bounces back on coming across the surface of an object and thereafter is picked up by the infrared receiver. Authors have applied a multi sensor integration technique to sense the obstacles using an LED based infrared transmitter and receiver module integrated with the 8051 micro controller which permits collision free navigation of robots.
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  Hardware Requirements : •IR Transmitter/Receiver • LM324 (Comparator) • Micro Controller (AT89S52) • L293D (Motor Driver IC) • DC Motor • L.C.D
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  Software Requirements : •Kiel Compiler • Languages : Embedded C
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  Block Diagram
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  Pin Diagram OfAT89S52:
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  Features of AT89S52: •4 KB on chip program memory. • 128 bytes on chip data memory(RAM) • 4 register banks. • 128 user defined software flags. • 8-bit data bus • 16-bit address bus • 16 bit timers (usually 2, but may have more, or less). • 3 internal and 2 external interrupts. • Bit as well as byte addressable RAM area of 16 bytes. • Four 8-bit ports, (short models have two 8-bit ports). • 16-bit program counter and data pointer. • 1 Microsecond instruction cycle with 12 MHz Crystal.
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  IR Sensor: • Aninfrared sensor circuit is one of the basic and popular sensor module in an Electronic Device. • The IR transmitter sends an IR radiation(in the infrared wavelength region),which is reflected of a surface and falls upon a receiver. • Due to the falling of light on the receiver a potential difference is created across the ends. This is recognized by a microcontroller as HIGH or LOW.
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  DC Motor: • DCmotors are widely used in robotics because of their small size and high energy output. • A DC Motor is any of a class of electrical machines that converts direct current electrical power into mechanical power. • A DC motor's speed can be controlled over a wide range, using either a variable supply voltage or by changing the strength of current in its field windings.
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  L293D-Motor Driver: • L293Dis a typical Motor driver or Motor Driver IC. • It allows a DC motor to drive on either directions. • It is a 16-pin IC which can control a set of two DC motors simultaneously in any direction.
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  Liquid Crystal Display: •LCD screen consists of two lines with 16 characters each. • Each character consists of 5x7 dot matrix. Contrast on display depends on the power supply voltage. • Some versions of displays have built in backlight (blue or green diodes).
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  LM324-Comparator: • The LM324is a 14 Pin dual in-line Plastic Package chip. • This chip can be used as a Power Amplifier , LED Driver ,etc., • It can accept a very wide power supply range from 3v – 32v.
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  Keil Software: • Keilis a cross compiler. • A cross compiler is similar to the compilers but we write a program for the target processor (like 8051 and its derivatives) on the host processors (like computer of x86)
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  Embedded C: • Wheneverthe conventional ‘C’ language and its extensions are used for programming embedded systems, it is referred to as “Embedded C” programming. • A software program called ‘Cross compiler’ is used for the conversion of programs written in Embedded ‘C’ to target processor/controller specific instructions(machine language).
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  Advantages : • Wheneverrobot senses any obstacle automatically diverts its position to left or right and follows the path without human guidance. • The programming of the microcontroller is easy. • It is a low cost circuit.
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  Applications : • ObstacleDetection for a Mining Vehicle • Driverless vehicles running along beams • Obstacle detecting system for a motor vehicle • Autonomous cleaning robot
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  CONCLUSION: We Have Implementedan ISR (Intelligent Security Robot),a self thinking robot which skillfully makes its way through the obstacles approaching its way using programmed brain without any guidance from human beings. We have used AT89S52 IC which avoids the requirement of any peripheral memory devices, occupying less space and easy programming, thus overcoming the limitations of a microprocessor. The authors have typically selected IR sensors instead of ultrasonic sensor as they use narrow beam width and are unaffected by sound absorbing materials. We have also taken care of use of variable range of speed and power utilization for the functioning of the robot by using dc motor instead of AC motor. The components used for designing an ISR are cost effective, thus making it acceptable.
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  Working Model:
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  FUTURE ASPECTS: • Wecan extend this project with Ultra Sonic Sensor For Distance Measurement. • This robot can be used for pick and place the required object by giving directions to the robot but IR pair should be replaced depending upon the application. • By doing extra things, it can be use in Army application.
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  Thank You