design of collision detection and obstacle avoidance robot
DESCRIPTION
for details contact 9475940432TRANSCRIPT
Presented by:
•MUKUND BIHARI(ECE)•DIPU KUMARI(AEIE)•SUPRIYA(AEIE)•AATREYEE SARKAR(AEIE)
Guided by :
•Mr. S.K. Das(Scientist , CMERI , Durgapur.)•Mr. Prajit Paul (Lecturer , Asansol
Engineering College)
MUKUND BIHARI(Asansol Engineering College)--9475940432
A microcontroller based programmable obstacle detection and avoidance mechanism for mobile robot.
Works on the decision making and controlling action.
Uses IR sensors to detect obstacle and accordingly the vehicle moves.
Uses 8052 microcontroller programming language.
Voltage comparators are used to compare the sensor data to detect any obstacle.
Asansol Engineering College
Data from sensors
NO obstacle in
front
Both motor ON in forward direction
Obstacle in front
Obstacle in left
Obstacle in right
Obstacle in front ,
left & right
Left motor ONRight motor OFF
Right motor ONLeft motor OFF
Left motor ONRight motor OFF
Both motor ON in reverse direction
Both motor OFF
Obstacle in every direction
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Microcontroller AT89C52Infrared Sensors SHARP GP2D12DC motorDC motor driver circuit using L293DComparator circuit using LM311PVoltage Regulator LM7805Alumunium Vehicle Base2 Main Wheels and 1 Support wheelResistors , Capacitors, Diodes , Potentiometer
Asansol Engineering College
Asansol Engineering College
SENSOR
SENSOR
SENSOR
SENSOR LM311
LM311
LM311
LM311
AT89C52
L293D
Vref
Vref
Vref
Vref
MOTOR 1
MOTOR 2
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An eight bit ALU 32 discrete I/O pins (4 groups of 8) which can be individually accessed.Three 16- bit timer/counters. Full duplex UART. 6 interrupt sources with 2 priority levels. 128 bytes of on board RAM. Separate 64k byte address spaces for data and code memoryA full duplex serial port
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GND
VCC
FROM COMPARATOR
TO MOTOR
8.2k
PORT 0
PORT 3
PORT 2
PORT 1
Asansol Engineering College
The two basic parts for working with IR are the emitter and the detector.
The emitter is typically an LED that emits near-infrared light.
A typical wavelength is 880nm, which is just beyond the human visiblity.
Asansol Engineering College
Quadruple half H-bridge bidirectional motor driver IC
600-mA Output current capability per driver
Supply Voltage Range 4.5V to 36V
Asansol Engineering College
Operating Voltage:
12V
Output Current: 50 A
Bidirectional rotation
DC motor
GND
5 V VOLTAGE REGULATOR
12V BATTERY
I/P
I/P I/P
I/P
Asansol Engineering College
The LM311 are single high-speed voltage comparators The output levels are compatible with most TTL and MOS circuits.
The LM311 are voltage comparators that have low input currents.
Asansol Engineering College
Asansol Engineering College
LM7805
330µF
0.1µF
10µF
GND
12V 5VIN4007
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Three-terminal positive voltage regulator.Built-in current limiting, thermal shutdown, and safe-operating area protection .
Asansol Engineering College
The industry-standard Keil C Compilers, Macro Assemblers, Debuggers, Real-time Kernels, and Single-board Computers support ALL 8051- compatible derivatives
The 8051 Instruction Set is supported by the Keil Ax51 Macro Assembler and the in-line Assembler of the Keil Cx51 Compiler.
Asansol Engineering College
Asansol Engineering College
Binary format of C program is loaded into the microcontroller with ALL 100 Burner connected to computer through a USB port.
Inbuilt Hex to Binary , Binary to Hex Coverter.
It can programm ICs upto 48 pin.
Asansol Engineering College
Asansol Engineering College
Use of differential steering with gradual change in wheel speeds.
Use of Hysteresis in sensor circuit using LM339
Increment in number of sensors to enhance the obstacle detection capibilty
Incorporation of a camera whose data can be send through wirless tehnology to a fixed station.
Incorporation of robotic hand to remove the obstacle in case there is no way for the movement of the robot.
General improvements like using a low dropout voltage regulator, lighter chassis etc.
Asansol Engineering College
Asansol Engineering College