wall follower robot - presentation

8/12/2019 Wall Follower Robot - Presentation

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Wall Follower Robot

Project Guide Chandresh Pratap SinghMr. Vinay Negi Gaurav Kushwaha

Ishan Upadhayay

Lalit Mohan Pandey


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INTRODUCTION

The study of robots has received a considerable amount of attention in

past two decades. Term robot was mentioned in the literature as early as

1920s. Due to its interdisciplinary nature constructing a robot requires

understanding of various facets of the aforementioned areas of expertise.

Wall following is a major topic of table top robotics . Wall following is the

act of having a robot follow a wall without turning into it or getting too far

from it.

Currently, specific task can be executed by robots using AI tools, but no

universal thing exists that can truly think. Therefore construction of even

simple robot for the task of navigation within a maze can be challenging

and educational.


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Motion of a Wall Follower Robot


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COMPONENTS USED

Atmega16 microcontroller.

IR Sensors.

Motor Driving Circuitary

Power Supply.

Locomotive System.

LEDs


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ATmega16

The ATmega16 is a low-power CMOS 8-bit

microcontroller based on the AVR enhanced RISC

architecture.

The ATmega16 provides the following key features: 16 Kbytes In-System Programmable Flash Program

memory with Read-While-Write capabilities.

512 bytes EEPROM, 1 Kbyte SRAM. 32 general purpose I/O lines.

32 general purpose working registers.


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Atmega16 PIN DIAGRAM


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IC(L293D)

It is basically 16 pin IC.

This device is a monolithic integrated high voltage four

channel driver design to accept DTL or TTL logic levels.


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IR SENSORS

Sensors provide a robot with the means to

observe the characteristics of the external environment and the

internal state. Without the sensors the robot would be unable

to determine its current state and therefore unable to actmeaningfully. Infrared sensors are used for range sensing.

IR sensors have a range of 8 inch, and if the object (wall) is within

its range, then the rays produced by emitter bounces off the

object and is detected by sensor.


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PROGRAMMING

The program is written in embedded C language.The code is written to give instructions to the

microcontroller as to how to proceed in aparticular situation.

This code is compiled by the compiler to producea hex file that contains the code in itshexadecimal representation.

As the microcontroller understands only binary

language, this hex file is fed into themicrocontroller memory. This process is calledBurning.


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WORKING MODEL

As soon as the robot with the power ON is

placed alongside a wall, the IR sensors comes

into play.

The sensors receives the input signals as

according to the wall.

These signals are sent to the ADC comparator

from where the digital signals are forwarded

to the microcontroller.


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WORKING MODEL(contd.)

This input is passed onto the microcontrollerwhich in turn gives instructions to the motorto perform desired task.

The motor rotates according to theinstructions and the wheels help the motor inperforming the task.

Hence the sensor provides the input to themicrocontroller, and the output is provided bythe motor.


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APPLICATIONS


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FUTURE IMPROVEMENTS

Future improvement can be made such as the

detection of the color object, and automatic

color threshold adjustment. Many advanceapplications can be achieved based on the

features of Wall-Follower, including parallel

parking, automatic indoor navigation and so

on.


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wall follower robot - presentation

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