COLLISION AVOIDANCE VEHICLE

7/21/2019 COLLISION AVOIDANCE VEHICLE

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Mini Project Report 2014

ACKNOWLEDGEMENT

At the outset, I express my gratitude to the almighty who has been with

me during each and every step that I have taken towards the completion of this

Mini project.

With great pleasure, I express my deep sense of gratitude to Dr. K.

Rajiv Kumar, ead !epartment of instrumentation for giving his valuable

help and guidance in preparation of my Mini project.

I express my heartfelt gratitude to Mrs. Archana Mohan, !epartment

of instrumentation for her valuable assistance and advice for presenting this

Mini project

I also express my thanks to all other faculties of Instrumentation and

"ontrol #ngineering !epartment for giving their valuable cooperation.

I express my gratitude to all my friends for their help, co$operation and

encouragement.

%




ABSTRACT

&owadays the industries are preferring robot rather than human for

labours because of more production result. 'ur aim of this project was to

develop a "ollision Avoidance Mobile (obot with onboard sensor and a )I"

Microcontroller. *he mobile robot designed is capable of moving in an

environment which has obstacles avoiding collision.

In this mobile robot we are providing I( sensor for the detection of

obstacles which is mounded on a dc motor for scanning its surrounding area.

*he algorithm runs on the )I" Microcontroller based on the information

received by the I( range. We are providing four basic directions for this robot

forward, backward, right, and left.

We are proving a particular range in )I" programming for I( sensor

known as threshold length. If the obstacles are within this threshold region or

length an interrupt is given to change the direction as in programming logic. .

)I" %+-A is used for programming and integrating two dc motor, motor

driver and I( sensor. In the program mounted, microcontroller will control the

movement of the vehicle and will control the operations of the attached

modules.

/




CONTENTS

Chap!r "a#! No

ACKNOWLEDGEMENT i

ABSTRACT ii

CONTENT iii

L$ST O% %$G&RES iv

'. $NTROD&CT$ON %

%.% 0cope and overview %

%./ 1asic operation %

%.2 Anti$collision system /

(. BLOCK D$AGRAM 3

). %LOW C*AT 4

+. C$RC&$T D$AGRAM +

. C$RC&$T E-"LANAT$ON

4.% Microcontroller

4./ I( sensor

4.2 !" motors -

2




4.3 5/62! -

4.4 )ower supply 6

4.+ 0erial "ommunication %7

4. Max /2/ %7

4.- 5M-74 %%

. CONCL&T$ON %2

RE%ERENCES v

A""END$-/' )rogram vi

A""END$-/( 0election of "omponents listed in ardware vi

3




L$ST O% %$G&RES

Ta01! No D!scripion "a#! No

i. Anti$"ollision 0ystem /ii. 1lock !iagram 3iii. low "hart 4

iv. "ircuit diagram +

v. )ower 0upply 6vi. 0erial "ommunication %7

vii. )in !iagram of MA8/2/ %7

viii. 5M-74 (egulator %%

4




$-. $NTROD&CT$ON

2.

xi. *he purpose of this project was to develop a mobile

robot with the collisions avoidance capability in an obstructed

environment. *he mobile robot has been built as a fully

autonomous vehicle with onboard sensors to get information about

the surrounding environment.

2ii.

'.' SCO"E AND O3ER3$EW

xiii. *he mobile robot is a four wheeled robot platform which

employs the differential steering mechanism for motion in given direction.

*wo dc motors have been used for the driving wheels. *he robot has an

onboard I( sensor which is mounted on the standard dc motor. *he dc Motor

and the I( sensor are controlled by a dedicated )I" Microcontroller which

sends the control signal to motor driver 5/62! which control the action of

motor.

xiv. *he )otential ield method has been used as the obstacle avoidance

algorithm and the Algorithm is implemented in the main )I" microcontroller

which is on the mobile robot. *he Algorithm implemented is used to avoid

the obstacle and to drive the robot to a locally generated goal.

xv.

'.( BAS$C O"ERAT$ON

xvi. When the robot is switch on it scan its environment using I(

sensor. If any obstacle was detected the I( rays will get reflected and will

received by the receiving section. *he controller will check whether the

obstacle is

xvii. in given threshold region which was given by the programmer.

%




If it is not in the threshold length the )I" controller will just ignore it and if

xviii.

xix. it is in the threshold region the )I" controller will instruct the motor

driver to move the direction. *he scanning will continues until the system is

shutdown.

xx.

'.) ANT$/COLL$S$ON S4STEM

22i.

22ii.

xxiii. ig$i9 Anti$"ollision 0ystem

22iv.

xxv. *he basic Anti$collision system consists of a

transmitter module which is mounted on the front end of the

vehicle. In practical case, electromagnetic of the fre:uency in the

/




range of I( or ultrasonic waves can be used. *he transmitter

transmits radio waves continuously in the forward direction.

Whenever an obstacle or any vehicle comes within a specific

distance in front of the vehicle, the radio waves incident on

them are

xxvi.

xxvii. reflected back to the vehicle. *hese reflected waves are collected

by a receiver module which is also mounted on the front end of the

vehicle. 'n the reception of these reflected waves, an alarm is

triggered which warns the driver to manually slow down the

vehicle if possible. If the driver fails to perform the re:uired action

within a few seconds, a solenoid valve in the vehicle fuel system

which is electronically controlled, reduces the fuel flow to the

engine there by slowing down the vehicle.

xxviii.

xxix.

222.

222i.

222ii.

222iii.

---$3.

xxxv.

xxxvi.

2




xxxvii.

---3$$$.

---$-.

xl.

xli.

-L$$. (. BLOCK D$AGRAM

xliii.

xliv.

3




-L3.

-L3$.

-L3$$. %$G/$$5 BLOCK D$AGRAMxlviii.

xlix.

l.

4




li.

lii.

liii. ). %LOW C*ART

1iv.

1v.

+




lvi.

lvii.

lviii.

lix. ig$iii9 low chart




lx.

12i.

12ii. +. C$RC&$T D$AGRAM

12iii.

12iv.

-




lxv.

12vi.

12vii.

lxviii. ig$iv9 "ircuit !iagram

6




lxix.

lxx.

122i.

122ii.

122iii. . C$RC&$T E-"LANAT$ON

122iv.

122v. .' M$CROCONTROLLER5 "$C'%677A

lxxvi. )I" is a family of modified arvard architecture

microcontrollers made by Microchip *echnology, derived from the

)I"%+47 originally developed by ;eneral Instrument<s

Microelectronics !ivision. *he name )I" initially referred to

=)eripheral Interface "ontroller=.

lxxvii. )I"s are popular with both industrial developers

and hobbyists alike due to their low cost, wide availability, large user

base, extensive collection of application notes, availability of low cost

or free development tools, and serial programming >and re$

programming with flash memory? capability. *hey are also commonly

used in educational programming as they often come with the easy to

use <pic logicator< software.

122viii. .( $R SENSOR

%7

http://en.wikipedia.org/wiki/Modified_Harvard_architecture

http://en.wikipedia.org/wiki/Microcontroller

http://en.wikipedia.org/wiki/Microchip_Technology

http://en.wikipedia.org/wiki/General_Instrument

http://en.wikipedia.org/wiki/Microcontroller

http://en.wikipedia.org/wiki/Microchip_Technology

http://en.wikipedia.org/wiki/General_Instrument

http://en.wikipedia.org/wiki/Modified_Harvard_architecture




lxxix. In the electromagnetic spectrum, infrared radiation is the region

having wavelengths longer than visible light wavelengths, but

shorter than microwaves. *he infrared region is approximately

demarcated from 7.4 to %777@m. *he wavelength region from

7.4 to 2@m is termed as near infrared, the region from 2 to +@m is

termed mid$infrared, and the region higher than +@m is termed as

far infrared.

lxxx.

lxxxi. Infrared technology is found in many of our everyday products.or example, * has an I( detector for interpreting the signal from

the remote control. Bey benefits of infrared sensors include low

power re:uirements, simple circuitry, and their portable feature.

1222ii.

1222iii. .) DC MOTORS

lxxxiv. A !" motor is a mechanically commutated electric motor

powered from direct current >!"?. *he stator is stationary in space

by definition and therefore so is its current. *he current in the rotor

is switched by the commutator to also be stationary in space. *his

is how the relative angle between the stator and rotor magnetic flux

is maintained near 67 degrees, which generates the maximumtor:ue.

lxxxv.!" motors have a rotating armature winding but non$rotating

armature magnetic field and a static field winding or permanent

%%




magnet. !ifferent connections of the field and armature winding

provide different inherent speedCtor:ue regulation characteristics.

*he speed of a !" motor can be controlled by changing the

voltage applied to the armature or by changing the field current.

*he introduction of variable resistance in the armature circuit or

field circuit allowed speed control. Modern !" motors are often

controlled by power electronics systems called !" drives.

lxxxvi. .+ L(8)D

lxxxvii. *he !evice is a monolithic integrated high voltage, high currentfour channel driver designed to accept standard !*5 or **5 logic

levels and drive inductive loads >such as relays solenoides, !"

and stepping motors? and switching power transistors. *o simplify

use as two bridges each pair of channels is e:uipped with an enable

input. A separate supply input is provided for the logic, allowing

operation at a lower voltage and internal clamp diodes are

included. *his device is suitable for use in switching applications

at fre:uencies up to 4 kD.

.+ "OWER S&""L4

lxxxviii. ere the ac supply is fed into a bridge rectifier. *he bridge

rectifier converts the ac to pulsated dc volt. *he )I" need pure dc

supply of 4v. 0o it is then fed into a filter capacitor , %777u which

converts the pulsated dc to pure dc. It is then fed into a voltage

rectifier 5M-74 to convert into 4v supply. An indicator 5#! is

kept for power on off indication.

%/




1222i2.

2c.

xci. ig$v9 power supply

2cii.

2ciii.

2civ.

2cv. . SER$AL COMM&N$CAT$ON

%2




xcvi.

xcvii. ig$vi9 0#(IA5 "'MME&I"A*I'&

2cviii.

2ci2. .7 MA- ()(

c.

%3




ci. fig9vii$pin diagram for MA8/2/

cii. *he MA-()( is an integrated circuit, first created by Maxim Integrated

)roducts, that converts signals from an (0$/2/ serial port to signals suitable

for use in **5 compatible digital logic circuits. *he MA8/2/ is a dual

driverCreceiver and typically converts the (8, *8, "*0 and (*0 signals.

ciii. *he drivers provide (0$/2/ voltage level outputs >approx. F .4 ? from a

single G 4 supply via on$chip charge pumps and external capacitors. *his

makes it useful for implementing (0$/2/ in devices that otherwise do not

need any voltages outside the 7 to G 4 range, as power supply design does

not need to be made more complicated just for driving the (0$/2/ in this case.

civ. *he receivers reduce (0$/2/ inputs >which may be as high as F /4 ?, to

standard 4 **5 levels. *hese receivers have a typical threshold of %.2

*he later MA8/2/A is backwards compatible with the original MA8/2/ but

may operate at higher baud rates and can use smaller external capacitors H

7.% in place of the %.7 capacitors used with the original device.

cv. *he newer MA82/2/ is also backwards compatible, but operates at a broader

voltage range, from 2 to 4.4

cvi.

cvii.

cviii. .6 LM769

ci2.

cx. ig$viii9 5M-74 regulator

cxi. *his series of fixed$voltage integrated$circuit voltage regulators is

designed for a wide range of applications. *hese applications

%4

http://en.wikipedia.org/wiki/Integrated_circuit



http://en.wikipedia.org/wiki/Maxim_Integrated_Products


http://en.wikipedia.org/wiki/RS-232

http://en.wikipedia.org/wiki/Transistor-transistor_logic


http://en.wikipedia.org/wiki/Charge_pump

http://en.wikipedia.org/wiki/Power_supply




http://en.wikipedia.org/wiki/Baud

http://en.wikipedia.org/wiki/Farad




http://en.wikipedia.org/wiki/RS-232


http://en.wikipedia.org/wiki/Charge_pump



http://en.wikipedia.org/wiki/Baud

http://en.wikipedia.org/wiki/Farad




include on$card regulation for elimination of noise and distribution

problems associated with single$point regulation. #ach of these

regulators can deliver up to %.4 A of output current. *he internal

current$limiting and thermal$shutdown features of these regulators

essentially make them immune to overload. In addition to use as

fixed$voltage regulators, these devices can be used with external

components to obtain adjustable output voltages and currents, and

also can be used as the power$pass element in precision regulators.

cxii.

cxiii.

cxiv.

cxv.

cxvi.

cxvii.

cxviii.

cxix.

cxx.

cxxi.

cxxii.

cxxiii.

cxxiv.

%+




cxxv.

cxxvi.

cxxvii.

c22viii. CONCL&S$ON

c22i2.

cxxx. After creating the mobile robot, implementing the

collision avoidance algorithm on the microcontroller, testing and with

modification we were able to achieve our project goal. *hat is to

design a collision avoidance robot. 'ur final version of the mobile

robot was able to avoid collision 67J of the time >according to test

results?. 0ince it is :uite difficult to develop a %77J collision

avoidance system, we believe that the achieved collision avoidance

rate is satisfactory.

cxxxi.

cxxxii.

cxxxiii.

cxxxiv.

cxxxv.

cxxxvi.

cxxxvii.

C---3$$$.

cxxxix.

%




cxl.

cxli.

cxlii.

C-L$$$. RE%ERENCES

c21iv.

cxlv. K%L. 0. ". =#lectromagnetic Waves=. "entre for (emote Imaging, 0ensing and

)rocessing. (etrieved /77+$%7$/.

cxlvi. K/L. William . eadon, Alan W. eadon. andbook of small electric motors.

Mc;raw$ill )rofessional, /77%. )age 3$%23.

cxlvii. K2L. #lectronic !esign Automation or Integrated "ircuits andbook, by

5avagno, Martin, and 0cheffer, I01& 7$-362$276+$2 A survey of the field of

electronic design automation, one of the main enablers of modern I" design.

cxlviii. K3L. 0abyasachi ;hoshray, B.B. en >%66+?. =A "omprehensive (obot

"ollision Avoidance 0cheme by *wo$!imensional ;eometric Modeling=.

cxlix.

cl.

cli.

clii.

cliii.

cliv.

clv.

clvi.

%-




clvii.

clviii.

CL$-.

CL-. A""END$-/' :"ROGRAM;

clxi.

clxii. NincludeOpic.hP

clxiii. Ndefine motor%Qe% >(#/?

clxiv. Ndefine motor%Qi% >(#%?

clxv. Ndefine motor%Qi/ >(#7?

clxvi. Ndefine motor/Qe/ >(A/?

clxvii. Ndefine motor/Qi% >(A4?

clxviii. Ndefine motor/Qi/ >(A2?

clxix. Ndefine motorirQen >(1?

clxx. Ndefine motorirQin% >(1+?

clxxi. Ndefine motorirQin/ >(14?

clxxii. void delayms>int x?R

clxxiii. void delay>int x?R

clxxiv. void forward>void?R

clxxv. void backward>void?R

clxxvi. void right>void?R

%6




clxxvii. void left>void?R

clxxviii. void stop>void?R

clxxix. void stopi>void?R

clxxx. void mtrrht>void?R

clxxxi. void mtrlft>void?R

clxxxii. char statusS7R

clxxxiii. void main>?

clxxxiv. T

clxxxv. A!"'&%S787R

clxxxvi. *(I0AS7x77R

clxxxvii. *(I0#S7x77R

clxxxviii. (1)ES7R

clxxxix. *(I01S7877R

cxc. *(I0!S7xR

cxci. )'(*!S7877R

cxcii. )'(*1S7877R

cxciii. stop>?R

cxciv. delayms>/7?R

cxcv. while>%?

cxcvi. T

cxcvii. if>(!7SS%?

/7




cxcviii. T

cxcix. stop>?R

cc. delayms>7?R

cci. mtrrht>?R

ccii. delayms>44?R

cciii. stop>?R

cciv. delayms>7?R

ccv. if>(!7SS%?

ccvi. T

ccvii. mtrlft>?R

ccviii. delayms>%24?R

ccix. stop>?R

ccx. delayms>7?R

ccxi. if>(!7SS%?

ccxii. T

ccxiii. mtrrht>?R

ccxiv. delayms>43?R

ccxv. stop>?R

ccxvi. delayms>7?R

ccxvii. backward>?R

ccxviii. delayms>%37?R

/%




ccxix. stop>?R

ccxx. delayms>7?R

ccxxi. while>%?R

ccxxii. U

ccxxiii. else

ccxxiv. T

ccxxv. mtrrht>?R

ccxxvi. delayms>42?R

ccxxvii. stop>?R

ccxxviii. delayms>7?R

ccxxix. backward>?R

ccxxx. delayms>37?R

ccxxxi. stop>?R

ccxxxii. delayms>47?R

ccxxxiii. left>?R

ccxxxiv. delayms>37?R

ccxxxv. stop>?R

ccxxxvi. delayms>7?R

ccxxxvii. U

ccxxxviii. U

ccxxxix. else

//




ccxl. T

ccxli. mtrlft>?R

ccxlii. delayms>42?R

ccxliii. stop>?R

ccxliv. delayms>7?R

ccxlv. backward>?R

ccxlvi. delayms>37?R

ccxlvii. stop>?R

ccxlviii. delayms>47?R

ccxlix. right>?R

ccl. delayms>37?R

ccli. stop>?R

cclii. delayms>7?R

ccliii. U

ccliv. U

cclv. if>(!7SS7?

cclvi. T

cclvii. forward>?R

cclviii. delayms>%7?R

cclix. U

cclx.

/2




cclxi.

cclxii. U

cclxiii. U

cclxiv.

cclxv. void backward>void?

cclxvi. T

cclxvii. motor%Qe%S%R

cclxviii. motor%Qi%S%R

cclxix. motor%Qi/S7R

cclxx. motor/Qe/S%R

cclxxi. motor/Qi%S7R

cclxxii. motor/Qi/S%R

cclxxiii. U

cclxxiv. void forward>void?

cclxxv.T

cclxxvi.

cclxxvii. motor%Qe%S%R

cclxxviii. motor%Qi%S7R

cclxxix. motor%Qi/S%R

cclxxx. motor/Qe/S%R

cclxxxi. motor/Qi%S%R

/3




cclxxxii. motor/Qi/S7R

cclxxxiii. U

cclxxxiv. void stop>void?

cclxxxv. T

cclxxxvi.

cclxxxvii. motor%Qe%S7R

cclxxxviii. motor%Qi%S7R

cclxxxix. motor%Qi/S7R

ccxc. motor/Qe/S7R

ccxci. motor/Qi%S7R

ccxcii. motor/Qi/S7R

ccxciii.

ccxciv. motorirQenS7R

ccxcv. motorirQin%S7R

ccxcvi. motorirQin/S7R

ccxcvii. U

ccxcviii. void stopi>void?

ccxcix.T

ccc.

ccci. motor%Qe%S7R

cccii. motor%Qi%S7R

/4




ccciii. motor%Qi/S7R

ccciv. motor/Qe/S7R

cccv. motor/Qi%S7R

cccvi. motor/Qi/S7R

cccvii. U

cccviii.void right>void?

cccix. T

cccx.

cccxi. motor%Qe%S%R

cccxii. motor%Qi%S%R

cccxiii. motor%Qi/S7R

cccxiv. motor/Qe/S%R

cccxv. motor/Qi%S%R

cccxvi. motor/Qi/S7R

cccxvii. U

cccxviii. void left>void?

cccxix.T

cccxx.

cccxxi. motor%Qe%S%R

cccxxii. motor%Qi%S7R

cccxxiii. motor%Qi/S%R

/+




cccxxiv. motor/Qe/S%R

cccxxv. motor/Qi%S7R

cccxxvi. motor/Qi/S%R

cccxxvii. U

cccxxviii. void delayms>int x?

cccxxix. T

cccxxx. int i,jR

cccxxxi. for>iS7RiOxRiGG?

cccxxxii. for>jS7RjO%777RjGG?R

cccxxxiii.

cccxxxiv. U

cccxxxv. void delay>int x?

cccxxxvi. T

cccxxxvii. int i,jR

cccxxxviii. for>iS7RiOxRiGG?

cccxxxix. for>jS7RjO%777RjGG?R

cccxl.

cccxli. U

cccxlii.void mtrrht>void?

cccxliii. T

cccxliv. motorirQenS%R

/




cccxlv. motorirQin%S7R

cccxlvi. motorirQin/S%R

cccxlvii. U

cccxlviii. void mtrlft>void?

cccxlix. T

cccl. motorirQenS%R

cccli. motorirQin%S%R

ccclii. motorirQin/S7R

cccliii. U

cccliv.

ccclv.

ccclvi.

COLLISION AVOIDANCE VEHICLE

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