DESIGN AND IMPLEMENTATION OF AN OBSTACLE AVOIDING ROBOT

A project report submitted for the partial fulfillment of the requirement for the degree of Bachelor of Science (B.Sc.) in Electrical & Electronic

Engineering by:

MD. JOBAER ID: EEEE 120200203

MD. MURSHIDUZZAMAN ID: EEEE 120200183

SAJIB SARKER ID: EEEE 120200181

Under the supervision ofASM Shamsul Arefin

Assistant Professor

June 2015

Department of Electrical & Electronic EngineeringFaculty of Science and Engineering

Northern University Bangladesh

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DECLARATION

We, hereby, declare that the work presented in this project is the outcome of the research work performed by us under the supervision of ASM Shamsul Arefin, Assistant Professor of the Department of Electrical And Electronic Engineering Northern University Bangladesh. We also declare that no part of this project report has been submitted elsewhere for the award of any degree.

Signature

………………………….. Md. Jobaer ID: EEEE 120200203 Dept. of EEE

…………………………..

Md. MurshiduzzamanID: EEEE 120200183Dept. of EEE

…………………………..Sajib SarkerID: EEEE 120200181Dept. of EEE

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APPROVAL

This project report “Design and implementation of an obstacle avoiding robot” completed by Md. Jobaer, ID: EEEE 120200203, Md. Murshiduzzaman, ID: EEEE 120200183, Sajib Sarker, ID: EEEE 120200181, Department of Electrical And Electronic Engineering, Northern University Bangladesh has been accepted as satisfactory for the partial fulfillment of the requirements of the degree of Bachelor of Science (B.Sc) in Electrical And Electronic Engineering of the year of 2015 and approved as to its style and contents. The presentation was held on May 31, 2015.

Board of Examiners

………………………(Supervisor)ASM Shamsul Arefin Assistant ProfessorDept. of EEE

………………… Ashraful ArefinAssistant Professor Dept. of EEE

…………………Saber NazimLecturerDept. of EEE

………………………………………..Engr. Md. Badiuzzaman Associate Professor & HeadDept. of EEE

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ABSTRACT

The objective of this project is to control a robot by using smart phone & microcontroller to avoid the obstacle. A microcontroller would take input from the smart phone via Bluetooth and then compare the input to the L293D motor driver, which would in turn direct the motors to control the movement of the robot.

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ACKNOWLEDGEMENT

All Praise to Almighty Allah, Who has given us strength and opportunity to complete the project. We would like to thank our Supervisor ASM Shamsul Arefin for giving us time and his proper guidance and valuable advice. He was always with us whenever we faced difficulties. His comment and guidance helped us a lot to prepare our project report.

After that we are really thankful to all of our teachers for their help to make this project successfully.

We are also thankful to our classmates and friends who supplied a lot of information to make this accomplished.

Finally, we are grateful to our family, who are always with us in every steps of our life.

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ACRONYMS AND ABBREVIATIONSµC/MCU Microprocessor Control Unit

AC/DC Alternating Current/Direct Current

APH Adaptive Frequency Hopping Feature

AVR Automatic Voltage Regulator

CMOS Complementary Metal Oxide Semiconductor

DC Direct Current

EDR Enhanced Data Rate

EEPROM Electrically Erasable Programmable Read Only Memory

GND Ground

GPIOR General Purpose I/O Registers

IC Integrated Circuit

IRED Infrared-Emitting Diode

LED Light Emitting Diode

Mbps Megabyte Per Second

MHz Mega Hertz

MIPS Million Instructions Per Second

PCB Printed Board Circuit

PIO Parallel Input Output

PWM Pulse Width Modulation

RC Resistor Capacitor

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RF Radio Frequency

RX > IR Emit Infrared

SPP Serial Port Protocol

SRAM Static Random Access Memory

TX/Rx Transmitter/ Receiver

UART Universal Asynchronous Receiver Transmitter

USART Universal Synchronous Asynchronous Receiver Transmitter

VDD Drain Voltage

VSS Source Voltage

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TABLE OF CONTENTSDeclaration ii

Approval iii

Abstract iv

Acknowledgement v

Acronyms and Abbreviations vi

Table of Contents viii

List of Figures xii

CHAPTER – 1

INTRODUCTION

1.1 Introduction to Robotics 2

1.2 Problem Statement 2

1.3 Objective of this project 2

1.4 Report Outline 2

CHAPTER – 2

DESIGN OF THE ROBOT

2.1 Introduction 4

2.2 Block Diagram of the Project 4

2.3 Required Components 4

2.4 7805Volage Regulator IC 5

2.5 HC-05 Bluetooth 6

2.5.1 Overview 7

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2.5.2 Specifications 7

2.5.3 Pin out configuration of Bluetooth and microcontroller 8

2.5.4 Bluetooth Wireless Navigation 8

2.6 L293D Motor Driver IC 9

2.6.1 Pin Diagram of L293D motor driver IC 9

2.6.2 Working of L293D 10

2.6.3 L293D Logic Table 10

2.6.4 Circuit Diagram of L293D motor driver IC controller 10

2.6.5 Voltage Specification 11

2.7 Capacitor 11

2.7.1 Types of Capacitor 12

2.7.2 Capacitor Voltage Reference 13

2.7.3 104j Capacitor 13

2.7.4 Specification of 104j Capacitor 13

2.8 Crystal oscillator 14

2.9 Heat sink 14

2.10 Resistor 15

2.11 Mini DC Gear Motor and wheel 15

2.11.1 Specification of Dc Motor 16

2.12 LED 17

2.13 Diode 18

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2.13.1Characteristic of Diode 18

2.14 Battery 19

2.14.1Application 20

2.15 Summary 20

CHAPTER – 3

DESIGN AND IMPLEMENTATION

3.1 Introduction 22

3.2 Microcontroller 22

3.2.1 The pin diagram of Atmega8 microcontroller 22

3.2.2 ATmega8 Microcontroller IC 22

3.2.3 Features 23

3.3 Microcontroller Program 24

3.4 PCB Layout 30

3.5 Circuit Module 31

3.6 Circuit Construction 31

3.7 Android application Development 32

3.7.1 What is MIT App inventor? 32

3.7.2 Android application view 32

3.7.3 Screenshot of the Development of Android application 33

3.8 Working procedure 35

3.9 Software’s Used 35

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3.9.1Proteus 8 35

3.9.2 Code vision AVR 35

3.10 Summary 36

CHAPTER-4

PROJECT OUTLOOK, APPLICATION AND LIMITATIONS

4.1 Introduction 38

4.2 Project Outlook 38

4.3 Application of this project 38

4.4 Limitation 39

4.5 Summary 39

CHAPTER-5

PRICE COMPARISON AND DISCUSSION

5.1 Introduction 41

5.2 Price 41

5.3 Discussion 41

5.4 Advantages 41

5.5 Disadvantages 41

5.6 Summary 42

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CHAPTER-6

FUTURE EXTENSIONS AND CONCLUSION

6.1 Future Extensions 44

6.2 Conclusion 44

References 45

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LIST OF FIGURES

Figure 2.1: Block Diagram of the project…………….….......................4

Figure 2.2: Typical Voltage Regulator IC …………………..................5

Figure 2.3: Circuitry of Voltage Regulator IC …………………….…...6

Figure 2.4: HC-05 Bluetooth …………………………………….…….6

Figure 2.5: pin out configuration microcontroller and Bluetooth ...…...8

Figure 2.6: 16 Pin Diagram of L293D ………………………… ...........9

Figure 2.7: Circuit Diagram of L293D………......................................10

Figure 2.8: Physical View of Capacitor ………………………………11

Figure 2.9: 104j Capacitor ………….……………………………….. 13

Figure 2.10: Crystal oscillator ………………………………………..14

Figure 2.11: Heat sink ..........................................................................15

Figure 2.12: Physical view of Resistor ………….……………………15

Figure 2.13: Mini Dc motor and wheel, stearing wheel ……………...16

Figure 2.14: LED ……………………………………………………….……..18

Figure 2.15: Diode.................................................................................18

Figure 2.16: Characteristics of Diode....................................................19

Figure 2.17: Battery …………………………………………………..19

Figure 3.1: Pin diagram of ATmega8…..…..………………………....22

Figure 3.2: PCB Diagram of this project ………….….……………... 30

Figure 3.3: Circuit module….................................................................31

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Figure 3.4: Android application view…………………………….…...32

Figure 3.5.1 Screenshot of the Development of Android application…33

Figure 3.5.2: Screenshot of the Development of Android application...34

Figure 4.1: Outer look of the robot…………………………………….38