Download Engineering projects and more Study Guides, Projects, Research Control Systems in PDF only on Docsity!
ISSN (Online): 2278 – 8875
International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering Vol. 2, Issue 4, April 2013
OBSTACLE AVOIDING ROBOT – A
PROMISING ONE
Rakesh Chandra Kumar^1 , Md. Saddam Khan^2 , Dinesh Kumar^3 ,Rajesh Birua^4 ,Sarmistha Mondal^5 , ManasKr.
Parai^6
B.Tech students, Dept. of ECE , Siliguri Institute Of Technology, Sukna ,Darjeeling-734009(W.B), India 1,2,3,
Asst. Professor, Dept. of ECE , Siliguri Institute Of Technology, Sukna,Darjeeling-734009(W.B), India5,
ABSTRACT : In today’s world ROBOTICS is a fast growing and interesting field. ROBOT has sufficient intelligence to cover the maximum area of provided space. It has an infrared sensor which are used to sense the obstacles coming in between the path of ROBOT. It will move in a particular direction and avoid the obstacle which is coming in its path.Autonomous Intelligent Robots are robots that can perform desired tasks in unstructured environments without continuous human guidance. The minimum number of gearmotor allows the walking robot to minimize the power consumption while construct a program that can produce coordination of multi-degree of freedom for the movement of the robot. It is found that two gearmotors are sufficient to produce the basic walking robot and one voltage regulators are needed to control the load where it is capable of supplying enough current to drive two gearmotors for each wheel.
Keywords : Wheeled ROBOT, Autonomous, Intelligent, Atmel microcontroller,Gear motor
I. INTRODUCTION
Now a day’s Robotics is part of today’s communication & communication is part of advancement of technology, so we decided to work on ROBOTICS field, and design something which will make human life today’s aspect.There are different types of mobile robots which can be divided into several categories consists of wheeled robot, crawlingrobot and legged robot. This project deals with a wheeled autonomous ROBOT.It is the part of Automation; Robot has sufficient intelligence to cover the maximum area. This robot uses infrared sensor to detect the obstacle in between the path and then avoid them to completes its objective. The IR transmitter continuously generate an Infrared signal of 38KHz,when an obstacle comes in the path the infrared signal reflected back from the object and is received by the IR sensor TSOP1738 and then generate a positive high signal with the help of the receiver circuit that is there is an obstacle in the path. In such a way the robot is able to detect obstacles of provided space and able to avoid obstacles coming in between the path of ROBOT with the help microcontroller board and complete its journey.
The main motto of designing such type of Robot or the technology is that this technology can be used in today’s very fast transportation to avoid the accident generally happen in congested or the Metro Politian Areas by applying emergency break. If we use this technology in the car or any vehicle, it will automatically sense the obstacles then it will take a side to the available free space. An obstacle may be a living things or any object. Autonomous Intelligent Robots are robots that can perform desired tasks in unstructured environments without continuous human guidance.Thus by using this technology in vehicles we make the drive safe.
Figure1.Overall Block diagram of the robot
S
S
ISSN (Online): 2278 – 8875
International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering Vol. 2, Issue 4, April 2013
Robot mainly consists of two types of designs-
- Mechanical design
- Circuit design. II. MECHANICAL DESIGN
This includes the hardware design of the robot that is motor &wheel placement, body setup. Robot uses two Robotics gear motor & wheel for the movement, Which will help it to move forward, left or right. Robot uses two motor & wheel in the back side and one freewheeling ball is placed at the front which helps it to free movement. The sensor are placed in such a way that they can cover the maximum area in front of the robot and can be capable to detect an obstacle either obstacle is small or big.
.
Figure2:- Drawing of the robot
III.CIRCUIT DESIGN
Circuit design mainly consists of two parts- a) Sensor part b) Control board part
a) Sensor part:-The sensors used in this robot are Infrared sensor, consisting two part infrared signal generator and the IR receiver designed in single PCB. There are two sensors are used as left side sensor and right side sensor and two sensors are used to sense the obstacle on left and right side.
IR Generator :- This is a Monostable multivibrator using NE555 IC generating Infrared Signal of 38KHz frequency for better determination of the object. By using a variable resistance we can adjust the frequency of the IR signal, detector TSOP1738, gives a high output signal.
Figure3. Diagram of Sensor circuit
IR Detector :- IR detector circuit is a circuit which gives a low output in absence of IR signal When some obstacle come in path IR signal reflected back and fall onto the IR detector. In such a way that obstacle are detected.
ISSN (Online): 2278 – 8875
International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering Vol. 2, Issue 4, April 2013
Algorithm:-
1.Start
- Check either switch (p1.6) is on or off
- If on then go to next step4, otherwise rotate at the same step.
- Initialize the input port (P3) & output port(P1).
5.Set the bit of port pin 1.0 and pin1.
- Read data from port 3.
- Check the bit on p3.
- If bit is present move left motors in Forward direction and
stop the right motor, else go to next step
- Check the bit in p3.
- If bit is present on pin p3.2,then move right motor in forward
direction until we get high signal on pin p3.2&stop left motor.
11.Again go to step 6.
Figure5:-Flow Chart for the movement of the
Figure5. Flowchart for the software
V. RESULT: WORKING OF ROBOT
As the robot is switched ON, 1st^ it will check either start signal is received or not ,if not then the program counter will not go to the next address it will remains on the same address until it get a negative signal. Then the robot continuously check any obstacle in path, if there is no obstacle then robot will go straight. If any obstacle will found in left side then the controller send a command to the motor drive to stop the right motor & move the left motor and just opposite as obstacle found in right side.
Figure 6: Robot ready to use
ISSN (Online): 2278 – 8875
International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering Vol. 2, Issue 4, April 2013
VI.APPLICATION
Obstacle avoiding technique is very useful in real life, this technique can also use as a vision belt of blind people by changing the IR sensor by a kinetic sensor ,which is on type of microwave sensor whose sensing range is very high and the output of this sensor vary in according to the object position changes. This technique makes a blind people able to navigate the obstacle easily by placing three vibrato in left, right and the centre of a belt named as VISION BELT and makes a blind people able to walk anywhere.On top of obstacle avoiding robot temperature/pressure sensors can be added to monitor the atmospheric conditions around. This is useful in places where the environment is not suitable for humans.
Same technology can be used in various application by modifying the microcontroller program for example
- Line / Path finder Robot.
- As automatic vacuum cleaner.
- With proper programming we can use it as a weight lifter.
- In Mines
VII.CONCLUSION
From this study, a walking robot that achieved the stated objectives had been developed. This robot is able to produce the basic walking movements using two gearmotors.we developed the robot with a very good intelligence which is easily capable to sense the obstacle and by processing the signal coming from the sensor it is perfectly avoiding the obstacle coming in between the path .Robot take the left or right or the forward movement in according to the sensing signal with the help of the two gear motor which makes the movement of the robot smooth .In future, the sensing range can be increased by increasing the sensor quality with the help of ultrasonic sensor or the IR signal spread all over the provide area.
REFERENCES [1] N. Senthil Kumar,M.Saravanan,S Jeebananthan ,“Microprocessors & Microcontrollers”, Oxford University Press,4th^ Edition,2012,ISBN:978-0- 19-806647- [2] B. Ram, “Fundamental of Microprocessors & Microcontrollers”, Dhanpat Rai Publication,Seventh Edition, ISBN:978-81-89928-60- [3] M. C. Lam, A. S. Prabuwono, H. Arshad, C. S. Chan, “A Real-Time Vision-Based Frameworkfor Human-Robot Interaction”, , 7066Lecture Notes. in Computer Science (Part 1) ,2011, pp. 257-267, IVIC 2011. [4] T. Ishida, and Y. Kuroki, “Sensor System of a small Biped Entertainment Robot”, Advanced Robotics, © VSP and Robotics Society of Japan, Vol. 18, No. 10, pp 1039-1052, 2004,.
[5] Maikoto T., Koji Y., and Satoshi E., “Studies on Forward Motion of Five Legs Robot”, Journal Code: L0318B 2005, 2P1-S-065, 2005. [6] Proceedings of Cooperative Intelligent Robotics in space-II SPIE vol. 1612,Boston, Nov 1991. [7] A. R. A Besari, R. Zamri, A. S. Prabuwono, and S. Kuswadi, “The Study on Optimal Gait for Five-Legged Robot with Reinforcement Learning”, Intelligent .Robotics and Applications, , Vol. 5928, pp. 1170-1175, 2009.
