Presented by

:
•MUKUND BIHARI(ECE) •DIPU KUMARI(AEIE) •SUPRIYA(AEIE) •AATREYEE SARKAR(AEIE)

Guided by

:

•Mr. S.K. Das(Scientist , CMERI , Durgapur.) •Mr. Prajit Paul (Lecturer , Asansol Engineering College)

MUKUND BIHARI(Asansol Engineering College)--9475940432

 A microcontroller based programmable

obstacle detection and avoidance mechanism for mobile robot.  Works on the decision making and controlling action.  Uses IR sensors to detect obstacle and accordingly the vehicle moves.  Uses 8052 microcontroller programming language.  Voltage comparators are used to compare the sensor data to detect any obstacle.
Asansol Engineering College

Data from sensors Obstacle in front , left & right

NO obstacle in front

Obstacle in front

Obstacle in left

Obstacle in right

Both motor ON in forward direction

Left motor ON Right motor OFF

Left motor ON Right motor OFF

Right motor ON Left motor OFF

Both motor ON in reverse direction

Both motor OFF

Obstacle in every direction

Asansol Engineering College

Microcontroller AT89C52 Infrared Sensors SHARP GP2D12 DC motor DC motor driver circuit using L293D Comparator circuit using LM311P Voltage Regulator LM7805 Alumunium Vehicle Base 

Asansol Engineering College

Asansol Engineering College

SENSO R

Vref

LM311

MOTOR 1

SENSO R

Vref

LM311

AT89 C52
SENSO R
Vref

L293 D

LM311
MOTOR 2

SENSO R

Vref

LM311

Asansol Engineering College

An eight bit ALU  32 discrete I/O pins (4 groups of 8) which can be individually accessed. Three 16- bit timer/counters.  Full duplex UART.  6 interrupt sources with 2 priority levels.  128 bytes of on board RAM.  Separate 64k byte address spaces for data and code memory A full duplex serial port
Asansol Engineering College

VCC

TO MOTOR

PORT 0 PORT 1

PORT 2 PORT 3

FROM COMPARATOR

GND 8.2k
Asansol Engineering College

The two basic parts for working with IR are the emitter and the detector.  The emitter is typically an LED that emits nearinfrared light. A typical wavelength is 880nm, which is just beyond the human visiblity.

Asansol Engineering College

Operating Voltage: 12V Output Current: 50 A Bidirectional rotation DC

motor

 Quadruple half H-bridge

bidirectional motor driver IC  600-mA Output current capability per driver  Supply Voltage Range 4.5V to 36V

Asansol Engineering College

I/P

I/P

5 V VOLTAGE REGULATOR

GND

I/P

I/P
12V BATTERY

Asansol Engineering College

The LM311 are single high-speed voltage comparators The output levels are compatible with most TTL and MOS circuits. The LM311 are voltage comparators that have low input currents.
Asansol Engineering College

Asansol Engineering College

12V

IN4007

5V

LM7805
330µ F

10µ F

0.1µ F

Three-terminal positive GND voltage regulator. Built-in current limiting, thermal shutdown, and safe- Asansol Engineering College

The industry-standard Keil C Compilers, Macro Assemblers, Debuggers, Real-time Kernels, and Single-board Computers support ALL 8051compatible derivatives The 8051 Instruction Set is supported by the Keil Ax51 Macro Assembler and the in-line Assembler of the Keil Cx51 Compiler.

Asansol Engineering College

Asansol Engineering College

Binary format of C program is loaded into the microcontroller with ALL 100 Burner connected to computer through a USB port. Inbuilt Hex to Binary , Binary to Hex Coverter. It can programm ICs upto 48 pin.

Asansol Engineering College

Asansol Engineering College

Asansol Engineering College

Use of differential steering with gradual change in wheel speeds. Use of Hysteresis in sensor circuit using LM339 Increment in number of sensors to enhance the obstacle detection capibilty Incorporation of a camera whose data can be send through wirless tehnology to a fixed station. Incorporation of robotic hand to remove the obstacle in case there is no way for the movement of the robot. General improvements like using a low dropout voltage regulator, lighter chassis etc.
Asansol Engineering College

Asansol Engineering College

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