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Under the Esteemed Guidance of Mrs.P.

Prasanna Kumari
• Autonomous robots have taken over many hazardous,
time consuming, or delicate tasks. This project describes
a design and implementation of an autonomous robot.
• The design criteria for this project were for the robot to
navigate a maze without prior knowledge of its
structure, identify and retrieve a unique target object,
and return it to the start of the maze. In addition to
performing the required tasks, the robot met the
economic and time constraints of the project.
• Build something interesting!
• The main objective of the intelligent autonomous
mobile robot is to navigate through an unknown
maze. Once the robot begins its task, it must operate
without operator intervention.

• Therefore, the robot must be aware of its


surroundings and orientation, capable of problem
solving, have appropriate sensory apparatus.
Ultrasonic Sensor

Light
Sensors
 AT89C51 MICROCONTROLLER

 PIN diagram
 Microcontroller board
 SENSORS

 IR sensors
 LM358
 MOTORS
 The AT89C51 is a low-power, high-performance CMOS
8-bit microcomputer with 4K bytes of Flash
programmable and erasable read only memory (PEROM).
 By combining a versatile 8-bit CPU with Flash on a
monolithic chip, the Atmel AT89C51 is a powerful
microcomputer which provides a highly-flexible and
cost-effective solution to many embedded control
applications.
 The AT89C51 provides the following standard features:
4Kbytes of Flash, 128 bytes of RAM, 32 I/O lines, two
16-bit timer/counters, a five vector two-level interrupt
architecture, a full duplex serial port, on-chip oscillator
and clock circuitry.
 Sensor is the device which
interfaces the robot to the
outside world.
 Each sensor consist of a
transmitter & receiver, the
transmitter emits IR radiation
if there is a wall it will be
reflected and absorbed by the
receiver.
 A low output is received from
the sensor module if there is
any obstacle.
 Why IR?

 We chose IR (infrared) because there's less noise and


ambient light than at normal optical wavelengths.
Later, we found plenty of ambient light sources that
interfered with the light beam, most noticeably
indirect sunshine from a nearby window made a big
difference to the optodetector. It would probably work
fine to use a visible LED instead, such as high-
intensity red.
 Low power requirements: therefore ideal for laptops, telephones,
personal digital assistants

 Low circuitry costs

 Simple circuitry: no special or proprietary hardware is required, can be


incorporated into the integrated circuit of a product

 Portable

 High noise immunity: not as likely to have interference from signals


from other devices
 Photodiodes are semiconductor light sensors that generate a current or voltage
when the P-N junction in the semiconductor is illuminated by light. The term
photodiode can be broadly defined to include even solar batteries, but it usually
refers to sensors used to detect the intensity of light.

Features

 Peak sensitivity wavelength matching with infrared LED(λP=950nm)

 4.8mm × 5.5mm side view package

 Black colored visible light cut-off lens


 The LM358 is available
in a chip sized package
(8-Bump micro SMD)
using National’s micro
SMD package technology.
 Application areas include
transducer amplifiers, dc
gain blocks and all the
conventional op amp
circuits which now can
be more easily
implemented in single
power supply systems.
 Gear heads
diameter 20mm
 Voltage range 6-24
 1:10 Gear Motor
and High Torque
 Exceptional Speed
Control.
 Low current
 A crucial step in the designing of an
autonomous robot is to develop a reliable
method of transporting all components
necessary for completing the required tasks.
The robot utilizes a 12- volt battery, two DC
drive gear motors interfaced by using four
relays.
 A relay, quite simply, is a
small machine consisting
of an electromagnet (coil),
a switch, and a spring. The
spring holds the switch in
one position, until a
current is passed through
the coil. The coil generates
a magnetic field which
moves the switch. It's that
simple. You can use a very
small amount of current to
activate a relay, and the
switch can often handle a
lot of current.
Automotive Power Relays
25A/30A -12V. These Relays
are available in 5 Pin, SPDT
Single Pole Single Throw
(NO+NC) Terminal
configurations. The Relays
have a continuous rating of
25A and take a peak load of
30A. The Relays have copper
and electroplated brass
terminals.
 There are many possible
directions that the work
could proceed from this
project. While we are
successfully solve a maze,
there are many
improvements that could be
made in the order to be able
to solve large or more
complex path like curved
paths or bridges.
 The Na’vi can also have critical medical apparatus , to constantly measure
user data and process it, to send for help in case of an emergency.

 The Na’vi can also be used in Defence, mines, with the help of Global
Positioning System (GPS) Technology.

 The Navigator can be interfaced to all the electrical and electronic appliances
in a house, by means of modern communication techniques such as
Bluetooth. The disabled person will be able to control all the gadgets from
the wheelchair itself. It can be made into an electronic home, with every
electrical appliance , interfaced with the wheelchair. The user will be able to
live a truly independent life.
 The obstacle detection technology has shown the
ability to detect and avoid an obstacle both static and
dynamic 10cm away with a good success rate. We are
in the course of carrying out further tests aimed at
improving the technology before using it in the
Navigator.
 Assistant Professor Sri N.Rajesh Babu

 Assistant Professor Sri Md.M.Chisti


 Bellman, Richard (1958), On a Routing Problem, in Quarterly of Applied Mathematics, 16(1), pp.87-
90

 2. Chen, Ning (1996), An updated micromouse competition, California State University in IEEE
Frontiers in Education Conference.

 3. Mishra, Swati and Bande, Panka, (2008), Maze Solving Algorithms for Micro Mouse, Signal
Image Technology and Internet Based Systems

 4. Traunl, T, (Dec 1999), Research relevance of mobile robot competitions, Robotics & Automation
Magazine, IEEE.

 5. Websites: http://www.micromouseinfo.com/

http://www.micromouseonline.com/

http://en.wikipedia.org/

www.robocet.com

www.robotroom.com

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