Our project is wall following robot with maze problem solving.
It works mainly on two infrared sensor attached to the chassis of the robot. It has been designed to work using controller Atmega16. It also includes the motor driver chips for driving the motors of the robot. In this project we build a robot which follows the wall without any problem, when the robot module is placed within the sensor range of wall. The robot is also provided with necessary circuitry to interface various sensors with the microcontroller and perform different functions according to the code written onto the micro controller.
Objectives The objective of the project is to develop an autonomous robot that when placed in an open space, finds a wall first and then follows the wall in order to find the end of that wall. This principle is used in maze detection where the robot will traverse through a maze to find a way out. This robot works according to the instructions stored in its programmer chip. When placed initially in an open space, the robot will run to find a wall first. On finding the wall, it will follow the wall either by turning LEFT or RIGHT as programmed. It detects a wall by using the sensors and the same sensors are used to detect turns & bends and thus follow the wall to ultimately get out of the maze. In this way the robot does the task of maze detection.
FUNCTIONAL REQUIREMENT
AVR Microcontroller (Atmega16)
IR Sensors
Edit plus Software to write and compile the c program
Motor Driving Circuitry
DC Motors
Maze
Batteries
Capacitor
Resister
IC Regulator(7805)
LEDs
CIRCUIT DIAGRAM
Expected Time Schedule (Pert Chart) PHASE 1
This is the basic phase but the most time consuming phase as this phase involve the primary step towards the search of component and ICs. Hence it consist of two parts- Hardware Software PHASE 2 This part mainly consist of PCB designing .Various stages of PCB designing are- Layout design and masking Printing Etching Cleaning Tinning Drilling PHASE 3 After completion of PCB design, we mount the various components on it. It should be done very carefully.we will also design a robot with two dc motor.A motor driver IC will interface with the microcontroller and DC motors.An IR sensor will detect the obstacles in the path of robot; it will be interfaced with the microcontroller.IR sensor will detect the obstacles and send a signal to a microcontroller;as a result controller provided instruction to motor driver as pre programmed.
PHASE 4 This is the final stage of project,in this phase we wil write a program to give the instructions to microcontroller.The program will write in AVR studio compiler window(C language format). This source program will be converted in Hex code for burn it into microcontroller.For this purpose we will use two softwares given below. 1): Compiler(AVR studio 4.0) 2): Source code(AVR GCC) This phase also include final testing of all coding ,interface circuit functioning and performance of whole system.If any error will be generated thren we will try to remove that error by modification on the circuit. Applications Autonomous mobile robot is a hot research topic and attracts many interests due to that mobile robot has been or will be employed in various fields, such as space exploration, under water survey, industrial and military industries, service and medical applications, and so on.Wall-following strategy can help the mobile robot to avoid deadlock caused by local minim and fulfill the given task effectively. Spiking Neural Networks (SNNs), the third generation of the neural networks, is suitable in the design of mobile robot behavior's controller. In this paper, a wall-following controller based on SNNs for mobile robot is presented. Pulse frequency codes and pulse temporal coincidence detection codes are used in the proposed SNN controller. The designed controller can not only control the robot to follow the wall successfully, but also can be easily implemented.Automatic navigation of robots is always regarded as a critical part of machine intelligence. While outdoor navigation can be achieved using GPS technology, satellite-based indoor navigation is limited due to poor signal reception and high requirement on accuracy.Therefore many indoor navigation methods are developed and used instead. These methods include computer vision technology, sensors of different perspective of view, etc.
Future improvement Future improvement can be made such as the detection of the color object, and automatic color threshold adjustment. Many advance applications can be achieved based on the features of Wall-Follower, including parallel parking, automatic indoor navigation and so on.
References
IEEE Xplore - The Wall-Following Controller for the Mobile Robot ... http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5376087&url=http%3A%2F%2Fieeexplo re.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5376087 Maze solving algorithm http://en.wikipedia.org/wiki/Maze_solving_algorithm