International Research Journal of Engineering and Technology (IRJET) Volume: 04 Issue: 02 | Feb -2017
www.irjet.net
e-ISSN: 2395 -0056 p-ISSN: 2395-0072
RASPBERRY Pi BASED OBSTACLE AVOIDING ROBOT Amruta Nikam1, Akshata Doddamani2, Divya Deshpande3, Shrinivas Manjramkar4 1
Amruta Nikam, Asst. Professor, E&TC, DYPIEMR-Akurdi, Pune
Akshata Doddamani, Student, B.E. (E&TC), DYPIEMR-Akurdi, Pune 3 Divya Deshpande, Student, B.E. (E&TC), DYPIEMR-Akurdi, Pune 4 Shrinivas Manjramkar, Student, B.E.( E&TC), DYPIEMR-Akurdi, Pune 2
---------------------------------------------------------------------***--------------------------------------------------------------------2.2 Hardware and Software description Abstract – The project aims to build an autonomous robot 2.2.1 Raspberry pi using raspberry pi as a processing chip. An HD camera is used to provide and detect the obstacle from the real world to the robot. The robot is capable of avoiding the obstacle occurring in its path using an obstacle detection algorithm and move in an obstacle free path. The pi camera module will detect the obstacle in real time basis and using image processing algorithm it will detect the obstacle and feedback to the raspberry pi wherein it will change the path of the robot and divert it to obstacle free path. Key Words: Raspberry pi, Obstacle detection, Pi camera module.
1. INTRODUCTION Robotics is the branch of technology which deals with the construction, design, operation and application of robots. Obstacle avoidance refers to the ability of a robot to detect obstacles in its way if there are any and thus make its own obstacle free path. It makes use of pi camera module for detecting the obstacle in its path and also raspberry pi.
Raspberry Pi is credit card-sized single-board computer. There are currently five raspberry pi models in the market i.e. the model B+, model A+, model B, model A and the compute module. All models use the same SoC (system on chip – combined CPU and GPU). All models feature a Broadcom system on a chip (SoC), which includes an ARM compatible central processing unit (CPU) and an on chip graphics processing unit (General Processing Unit, a Video Core IV). Central processing unit speed ranges from 700 MHz to 1.2 GHz for the Pi 3 and on board memory range from 256 MB to 1 GB RAM. The operating systems are stored in secure digital (SD) and program memory in either the SDHC or Micro SDHC sizes. Most boards have one to four USB slots, HDMI and composite video output. Lower level output is provided by a number of General purposes input output pins which support common protocols like I²C. The Pi 3 has on board Bluetooth and Wi-Fi 802.11n.
We can develop the robot with a very good intelligence which is capable of easily sensing the obstacle through camera module. We proposed a model of a robot based on raspberry pi. Requirements of the project include raspberry pi, pi camera module, l293 motor drivers, DC motors. Raspberry PI is small kit means it is a small computer. This small computer performs a number of tasks. The Raspberry Pi is a series of credit card-sized single-board computer. Fig-1: Raspberry pi 3 model B
2. HARDWARE DESIGN 2.1 List of hardware
Raspberry Pi 3 model B Motor drivers(ICL293) Wi-Fi 802.11n dongle to connect remotely to pi. 8AAA batteries DC motors L shaped aluminum strip to support camera. Pi camera
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2.2.2 Pi Camera: The Raspberry Pi camera module can be used to capture photograph as well as take high-definition video. You can use the libraries with the camera to create effects. The camera module has a five megapixel fixed-focus camera that supports 1080p30, 720p60 and video modes. It connects via a 15cm ribbon cable to the CSI port on the Raspberry Pi. The camera works with all models of Raspberry Pi 1 as well as Pi2. It can be accessed through the MMAL (Multi-Media Abstraction Layer), Video for Linux Application Programming Interface and there are numerous third-party libraries built for it, such as the Pi camera Python library. ISO 9001:2008 Certified Journal
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