International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395 -0056
Volume: 04 Issue: 02 | Feb -2017
p-ISSN: 2395-0072
www.irjet.net
AUTONOMOUS NAVIGATION ROBOT S. Senthilkumar1, R. Nithya2, P. Vaishali3, R. Valli4, G. Vanitha5, L. Ramachanndran6 1, 6 – Assistant Professor 2, 3, 4 & 5 – UG Scholars Department of Electronics and Communication Engineering, E.G.S Pillay Engineering College, Nagapattinam. ---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - The project is design to build an
In this paper the steering algorithm ensures that the robot does not have to stop in front of an obstacle during its navigation [2] Hence the robots may overcome some of the problems during navigation, which are discussed above and it can navigate smoothly during its operation avoiding the collisions. We have presented a basic algorithm and design which can be further improved depending upon the required applications.
obstacle avoidance robotic vehicle b y using a ultrasonic sensors for its movement. A micro-controller (AT mega 3 2 8P) is used to achieve the desired operation. A robot is a machine that can perform task automatically or with guidance. It is a combination of computational intelligence and physical machines (motors). Computational intelligence follows the programmed instructions. The project proposes robotic vehicle that has an intelligence built in it such that it directs itself whenever an obstacle comes in its path. This robotic vehicle is built, using a micro-controller of AT mega 328P family. An ultrasonic sensor is used to detect any obstacle in front of it and sends a command to the micro- controller. Depending on the input signal received, the microcontroller redirects the robot to move in an alternate direction by actuating the motors which are interfaced to it through a motor driver.
II. EXISTING SYSTEM: In simple robot, steering algorithm is used for robotic actions in which driver or a human being is controlling the robot by using r e m o t e . Here driver is present, who can see the obstacle and navigate robot accordingly.
III. PROPOSED SYSTEM: The project proposes an autonomous robotic vehicle, In which no remote is used for controlling the robotic actions. It intelligently detects obstacles present on its path through the sensors and take decision on the basis of internal code that we set for it. Here we are using servomotor to rotate the sensor up to180 degree or 360 degree. The detail information is given in the following subtopics which will help you to understand the whole system and its design.
Key Words: Robot, AT mega-328P microcontroller, Ultrasonic sensors, obstacle avoiding robot, servomotor I. INTRODUCTION Obstacle avoidance is a primary requirement of any autonomous navigation robot. Obstacle avoidance robot is designed to allow the robot to navigate the unknown environment by avoiding collisions[1]. It senses if there is any obstacles in the path to avoid it and resumes its running. There are some very famous methods for robot navigation like wall-following, edge detection, bomb disposal, line following. One of the commercial systems uses wallfollowing method on a floor cleaning robot for long hallways. [1] A more general and commonly employed method for obstacle avoidance is based on edge detection. The drawback of obstacle avoidance based on edge detecting is the need of the robot to stop in front of an obstacle in order to provide a more accurate
BASIC DESIGN OF ROBOT This robot was built with an Arduino development board on which microcontroller is placed. Arduino board is connected with DC Motor through Motor driver board which provide power to the actuators. Actuators are used to move robot in Forward, Reverse, Left and Right directions. The brief description of inputs pins for movement of robot is given in below in table.
measurement. It detect an obstacle and stop the robot in order to avoid a collision, using some sophisticated algorithms that enable the robot to detour obstacles. In future algorithms are more complex, since they involve detection of an obstacle as well as some kind of quantitative measurements concerning the obstacle's dimensions.
Š 2017, IRJET
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Movement
Pin 10
Pin 11
Pin 12
Pin 13
Forward Backward Left Right
1 0 1 0
0 1 0 1
0 1 1 0
1 0 0 1
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