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

Asansol Engineering College

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

Asansol Engineering College

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

Asansol Engineering College

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

Asansol Engineering College

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