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PROBLEM DESCRIPTION
We decided to show how the controller of a black line following robot which can avoid obstacles
(preferably not to be used on black /dark surfaces) would function. For our inputs, we used 4 sensors,
namely the L(Left Sensor), F(Forward Sensor), R(Right Sensor), and O(Obstacle Sensor). These sensors
would either detect the presence of the black line it is programmed to follow(L,F,R ) or an obstacle to
which it must avoid. After detection of a line, a specific motor — either the S(Sinistral)/ Left Motor,
D(Dextral)/ Right Motor, or both— which we used as our outputs activates and begins to move as long
as it is able to detect the black line. For cases when the O sensor detects an obstacle, it initiates a
sequence of moves, which is the following: Short Forward motion, Turn Right, Short Forward motion,
Turn Left until it detects a line. Though, there may be cases when there is an obstacle to where the
robot is programmed to turn(example: left). For these scenarios, the robot is programmed to prioritize
execution of the direction it is supposed to head, then begin to initiate the Avoidance Sequence. An
example would be when the L sensor detects a line at the left direction and the O sensor detects an
obstacle as well. In this case, the robot will turn left then immediately begin the avoidance sequence.
(The course is designed so that there is a sufficient amount of allowance for the robot to move into a
direction and activate the sequence. The last output, the accelerator, activates when the robot is
moving forward and detects no obstacle, but then immediately turns off if otherwise. Additionally, we
gave a default instruction for the robot to follow when more than 1 sensor detects a black line.
L F R O S D A
0 0 0 0 0 0 0 Stop/Halt
0 0 1 0 0 1 0 Go Right
1 0 0 0 1 0 0 Go Left
1 0 1 0 0 1 0 Go Right
1 1 0 1 1 0 0 Go Forwardthen initiate
avoidance sequence
1 1 1 0 1 1 1 Go Forward and accelerate
IV. K-MAPS
LF LF
00 01 11 10 00 01 11
RO
RO
0 1 1 1 0 1 1 0
00 00
0 1 1 1 0 1 0 0
01 01
11 0 1 1 0 11 1 1 1 1
10 0 1 1 0 10 1 1 1
1
S=F+LR’
D=R+L’F+FO’
LF
00 01 11
RO
0 1 1 0
00
01 0 0 0 0
11 0 0 0 0
10 0 1 1 0
A=FO’
V. BLOCK DIAGRAM
F(orward) Sensor
L(eft) Sensor S(inistral) Block S (Motor)
R(ight) Sensor
D(extral) Block
D Motor
O(bstacle) Sensor
A(ccelerator) Block
Accelerator
The A Block depends on the inputs from the Forward Sensor and Obstacle
Sensor to determine if the Accelerator activates. It kicks in under 2
conditions: 1.) When the robot’s F sensor detects a forward line and 2.) The
O sensor detects no obstacle. This block can function simultaneously with
the other 2 blocks.
BLOCK ASSIGNMENT
S-Block -Alliyah Suyo
D-Block- Raquel Villarivera
A-Block- Sophia Dela Cruz
S-Block
D-Block
A-Block
VII. DECODER/MULTIPLEXER DESIGN OF BLOCKS
Complete
S-Multiplexer
D-Multiplexer
A-Multiplexer
XI. Conclusion