Obstacle Avoider Robot

Obstacle avoider robot is the important part of mobile robotics. Obstacle avoidance is task which is used for detecting the presence of object in a path of robot or any vehicle.

Obstacle avoiding robot is an intelligence device, which is used to protect the robot from any physical damages. It automatically sense and overcome the obstacles on its path.

Working:

In this project, we will study how to design and simulate an obstacle avoider robot using AVR ATmega16 microcontroller and Analog IR Sensor. This robot designed is an automatic robot i.e. no manual control is required for the operation of robot.

In obstacle avoider robot we use ADC of the ATmega16 microcontroller to convert analog signals to digital values. After converting the IR sensors signal into digital equivalent signal i.e. threshold value (3V in our project case). According to the output of above comparison, the microcontroller send the control signal to the DC motor driver Integrated Circuit (L293D) of robot to move the robot in forward, left or right direction. The above operation of sensors output comparison, ADC conversions and robot control continues till the power source is applied.

Hardware Required:

12V, 1A DC Adapter-1 piece
Analog IR Sensor-3 piece
AVR Microcontroller Board-1 piece
DC Motor Driver-1 piece
AVR USB Programmer-1 piece
1 to 1 Connector-15 piece
10 to 10 FRC Female Connector-2 piece
Robot-1 piece

Software Required:

BASCOM-AVR Integrated Development Environment (IDE)
AVRDUDE-GUI
WinAVR-2010
USBasp Driver

Circuit diagram:

Consider the eagle software based circuit diagram of obstacle avoider robot is:-

Source Code:

$regfile = "m16def.dat".
$crystal = 1000000
Config Lcd = 16 * 2
Config Lcdpin = Pin , Rs = Portb.2 , E = Portb.3 , Db4 = Portb.4 , Db5 = Portb.5 , Db6 = Portb.6 , Db7 = Portb.7
Config Adc = Single , Prescaler = Auto , Reference = Avcc
Start Adc
Config Timer1 = Pwm , Pwm = 8 , Prescale = 1 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down
Start Timer1
  Dim A As Integer
  Do
  Cls
  A = Getadc(0)
  Lcd A
  Lowerline
  If A < 750 Then
  Lcd "obstacle"                                            '
  Pwm1a = 200
  Portd.6 = 0
  Pwm1b = 200
  Portd.3 = 0
  Elseif A > 750 Then
  Lcd "no obstacle"

  Pwm1a = 0
  Portd.6 = 0
  Pwm1b = 0
  Portd.3 = 0
  End If

  Loop

End

Consider the screenshot of source code used in obstacle avoider robot using BASCOM-AVR Integrated Development Environment (IDE) is:-