Design and Implementation of Autonomous Photovore Robot with Obstacle Avoidance (MAE 4733 Term Final...
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Transcript of Design and Implementation of Autonomous Photovore Robot with Obstacle Avoidance (MAE 4733 Term Final...
1Design and Implementation of Autonomous Photovore Robot
with Obstacle Avoidance
School of Aerospace and Mechanical Engineering
Oklahoma State University
Presenter:1. SHUVRA BANIK2. BHARATH PAKALA
2Outlines Introduction
ConceptComponents
How It WorksDifferential DrivePhotovore AlgorithmObstacle Avoidance
CodingDemoApplicationProblemsRecommendationFuture Works
3Introduction
Concept and Design
Objective:Making a Photovore Robot which will follow the direction of light
Implementing Obstacle Avoidance to avoid collisions with any object
4Components
Hardwares:BreadboardWiresRobot ChassisWheels3 1K Resistors1 9V Battery1 1.5V Battery 2 Parallax Continuous Rotation Servo MotorsCCS PIC1854520 Development Kit
5Components…(continued)
ICs:2 Photoresistors1 Infrared Emitter1 Infrared Detector
6How It Works
Differential Drive
7Differential Drive…(continued)
Base Positive Pulse Time is 1.5ms Interval between positive pulses is 20msDecrease in Base Positive Pulse Time will increase
speed in clockwise direction
8Differential Drive…(continued)
Increase in Base Positive Pulse Time will increase speed in counterclockwise direction
9Photovore Algorithm Implemented using PhotoresistorPhotoresistor is a Light
Dependent Resistor (LDR) In a Voltage Divider Circuit
voltage across Photoresistor is measured
Difference between voltage of left and right Photoresistors are taken
If the voltage is more than 0.08V, then turns in appropriate direction
This difference is found after calibration
10Photovore Algorithm…(continued)
11Obstacle Avoidance IR Emitter emits IR light If there is an obstacle in the front,
this IR light bounces back An IR Detector receives the
reflected IR light IR Detector is actually an IR
Phototransistor It converts IR light into voltage In a Voltage Divider Circuit voltage
across IR Detector is measured For detecting a distance of 6 inches
in room light, if the voltage is less than 4.94V, then robot turns in right side
This voltage is found after calibration
12Obstacle Avoidance…(continued)
13Coding
When power is given to microcontroller, by default, it will work as an Obstacle Avoiding Robot
If anyone presses button (PIN_A4) on the development kit, then an external interrupt occurs at PIN_B0
Then the robot works as a Photovore Robot
These operations continue until power is taken off
14Demo
15Applications
A Photovore Robot can be used with a solar cell to get direct sunlight all the time of the day
Obstacle Avoidance can be used to avoid undesired collisions such as in Mars Rovers.
16Problems
Same speed in both servo motors is not found using the same pulse rate
The wheels slide on the floor due to lack of enough friction In order to keep the module compact, the chassis is made
smaller which in turn made the placement of circuit boards and batteries clumsy.
Calibration of photoresistos is difficult because their resistance changes with the change in light source
Calibration of IR detector is difficult because voltage across it changes with respect to light source (i.e. in sunlight or in room light) ,color and also surface structures of obstacle
17Recommendation
Using servos of same speedUsing wheels having better frictionAllocating enough space for the circuit boards and batteries
Using better photoresistors with better calibration
Using Sharp IR Range Finder sensors in stead of IR Detectors
18Future Works
A Fire Fighting Robot can be made using IR Detector of this robotA Line Following Robot can also be made using the Photoresistors of this robot
19Questions?
Thank You!