Obstacle Avoider

Brigosha Technologies
Application Notes
Obstacle Avoiding Robot
Introduction
An Obstacle Avoiding Robot may be
After navigating the surrounding the robot
defined as a robot which can avoid any
must be capable of processing the input
unwanted obstacle in its path and is
data from the navigation section. In this
capable of changing its path.
project the processing section is done

with an EAB, which comes along with
The basic tasks of an Obstacle Avoiding
microcontroller PIC18F26K22.
Robot can be divided into 3 sections,

namely
While
processing
the
robot
takes
Navigation
decision according to the algorithm
Processing
designed for it.
Execution
After processing the navigated data the
The robot must be equipped with some
robot
must
do
some
work
means by which it can navigate through
Movement etc). In this project we have
its surrounding to check if there is any
used motor driver IC L293D to drive the
obstacle or not. In this project we have
motors/wheels
used IR Sensors for the purpose of
processed output from the EAB.
according
to
(e.g.
the
navigation .
IR sensor
striking an obstacle. So, whenever the
IR Sensor is composed of an IR emitter
IR Receiver receives the infrared signal,
and an IR Receiver. When the IR Sensor
the LED associated with it glows i.e. ON
is powered, the IR emitter emits
state and if the IR receiver does not
infrared signal continuously and the IR
receive any signal, the LED is in OFF
Receiver is for receiving that infrared
state. So, this change in LED state can be
signal when it is echoed back after
measured with the EAB.
Email: info@brigosha.com, Website: www.brigosha.com

Copyright: Brigosha reserves all rights in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to third
parties. Brigosha is the registered trademark of Brigosha Technologies Pvt. Ltd. Specifications within this document are preliminary and subject to change
without notification. Document is not intended for publication.
Application Notes
Motor Driver Board
The motor driver board consists of
we have to use this Driver to increase
ICL293D. It has 4 inputs and 4 outputs.
the current by which we can drive the
Since, the current from the EAB is not
DC Motors.
sufficient enough to drive the motors, so
Components
The Components required for building the
Obstacle Avoiding Robot are:
Embedded Application Board
Connectors(Jumpers)
Motor Driver Board (containing L293D)
9V battery
IR Sensor (2 nos)
Wheels
DC Motors (2 nos)
Obstacles
Chassis
Application Notes
Block Diagram
Block level representation of the different blocks of the Obstacle Avoiding Robot.
IR
Sensor
Motor
Driver
EAB
Motor
Schematic Diagram
The Schematic diagram illustrates the circuit connections for designing the application.
IR Sensor 1
IR Sensor 2
RA0
Vcc
RA1
Vcc
Gnd
Gnd
EAB
RC0 RA5 RB4 RB3
IN0
IN1 IN2 IN3
M1
M2
Motor Driver
Application Notes
Connection Description
In this project we have used two IR
The out put of the EABs are from the
Sensor modules as obstacle detector.
pins RC0, RA5, RB4 and RB3. These pins
One is placed in Left-Front corner and
are responsible to control the robot and
another is placed in Right-Front corner
they are connected to the IN0, IN1, IN2
of the robot. Each module has 3-pins.
and IN3 pins of the Motor Driver board,
These are GND, VCC and DATA pins. The
respectively. Both the Motor Driver
GND and VCC pins are connected to the
Board and the EABs are powered with
GND and VCC pins of an EAB. The DATA
12V rechargeable battery.
pin of IR Sensor1 is connected to RA0

pin of EAB while that of IR Sensor2 is
connected to RA1 pin of EAB.
Application Notes
Code Flow Chart
Start
Main Function()
1. Define System Clock

2. Library Header File
Declaration
Set Oscillator Frequency
Configure IO pins
While(1)
Check if
AN0==1
No
Yes
Rotate wheel_1
Backward
Check if
AN1==1
Rotate wheel_1
Forward
No
Yes
Rotate wheel_2
Backward
Rotate wheel_2
Forward
Application Notes
Source Code
The Source code shown below is the
Refer to the EAB User Guide and EAB
firmware
the
Programming Guide for more details on
Embedded
how to Flash(burn) program(Source
to
microcontroller
be
of
flashed
the
in
Application Board. The Source code is
Code)
commented for better understanding of
Embedded Application Board.
in
the
microcontroller
of
the user.
Application Notes
Application Notes
How to Operate
Follow the steps mentioned below in order
Now you can see the Robot moving
to operate the project
automatically, in the arena, without

colliding any obstacles.
Prepare an arena as you wish.

Flash the code into microcontroller.
Connect each and every part properly.
Place the robot in a the arena.
Power the EAB, Sensor Board and Motor
Driver Circuit with 9V/12V DC. Carefully
check the polarities and then connect .
Switch ON the EAB.
More Projects
Some of such applications are given below:
Various other applications can be built
Anti-collision system
using Obstacle Avoiding Robot.
Alarm systems
Animation
Industrial Automation.

Obstacle Avoider

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Brigosha Technologies

After navigating the surrounding the robot

defined as a robot which can avoid any

must be capable of processing the input

unwanted obstacle in its path and is

data from the navigation section. In this

capable of changing its path.

project the processing section is done

The basic tasks of an Obstacle Avoiding

Robot can be divided into 3 sections,

decision according to the algorithm

designed for it.

means by which it can navigate through

Movement etc). In this project we have

its surrounding to check if there is any

used motor driver IC L293D to drive the

obstacle or not. In this project we have

used IR Sensors for the purpose of

processed output from the EAB.

striking an obstacle. So, whenever the

IR Sensor is composed of an IR emitter

IR Receiver receives the infrared signal,

and an IR Receiver. When the IR Sensor

the LED associated with it glows i.e. ON

is powered, the IR emitter emits

state and if the IR receiver does not

infrared signal continuously and the IR

receive any signal, the LED is in OFF

Receiver is for receiving that infrared

state. So, this change in LED state can be

signal when it is echoed back after

measured with the EAB.

Email: info@brigosha.com, Website: www.brigosha.com

we have to use this Driver to increase

ICL293D. It has 4 inputs and 4 outputs.

the current by which we can drive the

Since, the current from the EAB is not

sufficient enough to drive the motors, so

Motor Driver Board (containing L293D)

RC0 RA5 RB4 RB3

IN1 IN2 IN3

The out put of the EABs are from the

Sensor modules as obstacle detector.

pins RC0, RA5, RB4 and RB3. These pins

One is placed in Left-Front corner and

are responsible to control the robot and

another is placed in Right-Front corner

they are connected to the IN0, IN1, IN2

of the robot. Each module has 3-pins.

and IN3 pins of the Motor Driver board,

These are GND, VCC and DATA pins. The

respectively. Both the Motor Driver

GND and VCC pins are connected to the

Board and the EABs are powered with

GND and VCC pins of an EAB. The DATA

12V rechargeable battery.

pin of IR Sensor1 is connected to RA0

1. Define System Clock

Set Oscillator Frequency

Refer to the EAB User Guide and EAB

Programming Guide for more details on

how to Flash(burn) program(Source

Application Board. The Source code is

commented for better understanding of