PROJECT REPORT

Obstacle Avoiding Robot

OBSTACLE AVOIDING ROBOT
PROJECT REPORT

OBSTACLE AVOIDING ROBOT

SUBMITTED BY:
NAME ROLL NO.

SANDEEP BHOSALE 03

KALPESH CHHAJED 06

ABHIJEET KALBHOR 13

ABHIJEET KAPSE 15

GUIDED BY

Prof. Mr. Pravin Matte

Department of Electronics and Telecommunication
G.H.R.C.E.M., Wagholi, Pune

University of Pune
Academic Year 2008-2009

Page 2
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

G. H. Raisoni
College of Engineering & Management

Certificate
This is to certify that
SANDEEP BHOSALE

KALPESH CHHAJED

ABHIJEET KALBHOR

ABHIJEET KAPSE

Studying in year T.E. branch E&TC have satisfactorily

completed the project work of OBSTACLE AVOIDING ROBOT topic
in fulfillment of mini project in Electronic System Design & Mini
Project during the academic year 2008-09.

Project Guide H. O. D.
Prof. Mr. Pravin Matte Prof. Mr. Vijay Joshi

Principal
Dr. Mr. Dilip Shah

Page 3
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

ACKNOWLEDGEMENT

We feel profound pleasure in bringing out this

projects report for which we have to go from pillar to post to
make it a reality. This project work reflects contributions of
many people with whom we had long discussions and
without which it would not have been possible. We must
first of all, express our heartiest gratitude to respected Prof.
Pravin Matte (Dept. of E&TC) for providing us all guidance
to complete project.

It would be unfair if we do not mention the

invaluable contribution and timely co-operation extended to
us by staff member of our department. And especially we can
never forget the most worthy advices given by Col. Vijay
Joshi (H.O.D., Dept of E&TC), that would help us the entire
lifetime.

Last but not the least we express our sincere

thanks to the institute G.H.R.C.E.M., Wagholi, Pune for
providing such a platform for implementing the ideas in our
mind.

Page 4
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

INDEX Page No.

1. PREFACE
A) INTRODUCTION………………………………………………………..6

B) SCOPE OF PROJECT…………………………………………………..8

2. DESIGN OF THE PROJECT

A) PRELIMINARY DESIGN

i) BLOCK DIAGRAM………………………………………..10

ii) CIRCUIT DIAGRAM ……………………………………..12

iii) COMPONENT LIST………………………………………14

B) PROBLEMS ENCOUNTERED…………………………………………..15

C) FINAL DESIGN

i) PCB LAYOUT……………………………………………….17

ii) CIRCUIT DESCRIPTION………………………………….19

iii) ALGORITHM.………………………………………………20

iv) TESTING…………………………………………………….21

D) SOFTWARES USED……………………………………………………....23

i) DipTrace (ii) µVision Keil (iii) FlashMagic

3. SCOPE OF THE PROJECT

1.APPLICATIONS……………………………………………..27

2. FURTHER IMPROVEMENTS & FUTURE SCOPE……..29

4. BILL OF MATERIAL..................................................30

5. REFERENCES ..…………………………………….....32

Page 5
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

INTRODUCTION

Page 6
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

INTRODUCTION :

Robotics is part of Todays communication. In

today’s world ROBOTICS is fast growing and interesting field. It
is simplest way for latest technology modification. Now a days
communication is part of advancement of technology, so we
decided to work on ROBOTICS field, and design something
which will make human life simpler in day today aspect. Thus
we are supporting this cause.
This project is basic stage of any automatic robot.
This ROBOT has sufficient intelligence to cover the maximum
area of provided space. It has a infrared sensor which are used
to sense the obstacles coming in between the path of ROBOT. It
will move in a particular direction and avoid the obstacle which
is coming in its path.
We have used two D.C motors to give motion to
the ROBOT. The construction of the ROBOT circuit is easy and
small .The electronics parts used in the ROBOT circuits are
easily available and cheap too.

Page 7
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

Scope of the project :

The project uses µc P89V51RD2 as the controlling

element. It uses IR (Infra Red) sensors and two IR transmitting
circuitry. When the obstacle comes in path of robot IR beam is
reflected from the obstacle then sensor gives zero voltage to
µc. This zero voltage is detected then µc decides to avoid the
obstacle by taking left or right turn. If the sensor gives +5v to µc
that means there is no obstacle present in it path so it goes
straight until any obstacle is detected.
The two IR transmitter circuits are fitted on front and
left side of robot. The two IR sensors are placed near to
transmitters’ IR LEDs. The connections can be given from main
circuit to sensors using simple twisted pair cables.
Two motors namely right motor and left motor are
connected to driver IC (L293D). L293D is interface with µc.
Micro-controller sends logic 0 & logic 1 as per the
programming to driver IC which moves motors forward or
reverse direction.

Page 8
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

DESIGN
OF
pROJECT

Page 9
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

BLOCK DIAGRAM :

RIGHT
MOTOR

MOTOR
FRONT SENSOR MICRO-CONTROLLER
DRIVER

LEFT
MOTOR

DESCRIPTION:

Basically circuit consist of following blocks:

1) Sensors
2) Microcontroller 89V51RD2
3) Driver
4) Motors

Page 10
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

Let us take the overview of each block one by one.

1. IR Transmitter & Receiver

The IR Transmitter block mainly used to
generate IR signal. It uses timer IC555 in astable
multivibrator mode to generate square wave which have
continuous pulses of 50% duty cycle of frequency 38
KHz. This transmitter is so arranged that the IR rays are
focused on the sensor.
IR sensor (TSOP 1738) which gives normally
5v at output of it. After receiving infrared light at output
of sensor we get 0v.

2. Microcontroller
This is the most important block of the
system. Microcontroller is the decision making logical
device which has its own memory, I/O ports, CPU and
Clock circuit embedded on a single chip.

3. Driver
L293D is used as driver IC. Motors are connected to
this IC. According to program in µc it drives the left and
right motor.

Page 11
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

CIRCUIT DIAGRAM (Reference) :

Page 12
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

Page 13
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

TRANSMITTER :

Page 14
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

2. COMPONENTS USED:

1) RESISTORS : VALUE
QUANTITY
10K 2
1k,33E,330E,100E 2
8.2k,10K PULL UP 1

2)CAPACITOR:
VALUE QUANTITY
0.1,10,4.7 1
22 P 2

3) OSCILLATORS:
VALUE QUANTITY
11.0592 MHz 1

4)ICs:
VALUE QUANTITY
89V51RD2 1
L293D,7805 1

5) MISCELLANEOUS:
COMPONENT QUANTITY
6V ,200 RPM DC MOTOR 2
ZENER DIODE, 5.6V 3
RESET SWITCH 1
6V DC BATTERY 2
CONNECTING WIRES -

Page 15
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

PROBLEMS FACED :

Although the concept & design of the project

seemed perfect, there were some problems faced while
actual implementation:

1) Generation of exact 38Khz Frequency from IC 555 at

Transmitter circuit.
Solution : Use variable resistor pot in astable multivibrator.
Connect IC 555’s output pin to C.R.O. & measure frequency
pulses generated by IC 555.By varying the resistor pot we
can adjust the frequency of output.

2) Availability of Burner:
Solution:as burner kit is not easily available, so we have design
& implement hardware for burn the IC

Page 16
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

FINAL DESIGN

Page 17
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

FINAL DESIGN:

1. PCB LAYOUT:

Page 18
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

TRANSMMITER :

Page 19
OBSTACLE AVOIDING ROBOT
PROJECT REPORT
2. CIRCUIT DESCRIPTION:

ELECTRICAL DESIGN:-

Components are properly mount on respective position. This

include wiring and layout. The connection are given such that two IC’s
i.e. 89V51RD2 & L293D are interface. To L293D we connect two motors
namely left motor & right motor.

We implement transmitter circuit separately & gives power

supply independentely. For power supply we use chargeable DC battery
which having rating of 6V & 1.3A.Output pin of sensor(TSOP 1738) is
connected to micro-controllers pin.

MECHANICAL DESIGN:-

It include front panel which is given with ball caster wheel

which is fixed. Back panel is provided with circular wheel with DC motor
of 12v and 100 rpm with suitable clip pin for fixing the tyre. All the
assembly is fixed on base. All assembly mounted on single base.

Page 20
OBSTACLE AVOIDING ROBOT
PROJECT REPORT
ALGORITHM-:

1) Start

2) Initialize the input port & output port. Set the bit of port pin 1.0

3) Read data from port 1.

4) Check the bit on pin P1.0.

5) If bit is present move motors in forward direction.

Else go to step 6.

6) If bit is not present on pin P1.0, then stop right motor & move left
motor in forward direction until we get bit on pin p1.0.

7) Again go to step 3.

8) Stop.

Page 21
OBSTACLE AVOIDING ROBOT
PROJECT REPORT
TESTING:-

A) HARDWARE

B) SOFTWARE

A) Hardware:-

1. Continuity test:-

First of all we checked the PCB that all the tracks are as per the
design of PCB and showing continuity with the help of multimeter and
PCB layout.

2. Short circuit test:-

Then we checked the PCB for any unwanted short circuits with
the help of multimeter and PCB layout.

3. Soldering:-

In the next step, we soldered the required components.and then

checked that there are no any unwanted shorts occurred due to
soldering without putting IC's and keeping power supply off.

Page 22
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

4. Power supply test:-

In the next step, we put power supply on and checked whether

required voltage is appearing at the required voltage is appearing at the
required points i.e.+Vcc and GND at the respective points.we took care
of not connecting IC's in the circuit while performing this test.

5. Microcontroller test:-

For testing the microcontroller, we wrote the square wave

generation program for generating square wave on each port pin.Then
we fed the program in microcontroller and checked the output with the
help of CRO by connecting the microcontroller in the circuit. We took
care of not connecting any other IC in the circuit.

Page 23
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

SOFTWARES USED

Page 24
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

SOFTWARES USED :

1. DipTrace

ROLE IN THE DESIGN:

DipTrace 1.50 proved to be a very handy &
easy-to-use tool for the PCB layout process. Many of its
features were utilized leading to an accurate & efficient
design. It has Design Error Check & Electrical Rule Check
tools which proved to be helpful in the design. It is loaded
with a huge component list that is categorized in various
libraries for giving simplicity. Placement of components is
also very easy & they can be rotated in 360⁰ to customize
the design.

WORKING WITH DipTrace :

Page 25
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

2. µVision Keil

ROLE IN THE DESIGN:

µVision Keil provides IDE for 8051

programming & is very easy to use. When starting a new
project, simply select the microcontroller you use from the
Device Database and the µVision IDE sets all Compiler,
Assembler, Linker, and Memory options. It’s device database
is large which supports many ICs of the 8051 family. A HEX
file can be created with the help of Keil which is required for
burning onto chip. It has a powerful debugging tool which
detects most of the errors in the program.

WORKING WITH µVision Keil :

Page 26
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

3. FlashMagic

ROLE IN THE DESIGN:

Flash Magic is a PC tool for programming flash

based microcontrollers from NXP using a serial or Ethernet
protocol while in the target hardware. It has some excellent
features like changeable baud rate, erase all flash before
programming, setting security bits etc. The HEX file created
with the help of keil was selected through it for programming
the microcontroller.

WORKING WITH FlashMagic :

Page 27
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

APPLICATIONS

Page 28
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

APPLICATIONS :

1) This logic has been specially designed for vaccum

cleaner. By using heavy rating motors ,strong
mechanical structure and using highly sensitive
obstacle sensors, it efficiently work as vaccum cleaner.

2) Just by making small changes in software this system

can be used for avoiding concealed paths. This robot
can effectively sense the obstacles and find out correct
path.

3) With proper programming we can use it as a weight

lifter.

4) In Mines.

Page 29
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

FURTHER IMPROVEMENTS & FUTURE SCOPE :

1. Adding a Camera:

If the current project is interfaced with a

camera (e.g. a Webcam) robot can be driven beyond line-of-
sight & range becomes practically unlimited as networks
have a very large range.

2. Use as a fire fighting robot :

By adding temperature sensor, water tank and

making some changes in programming we can use this robot as
fire fighting robot.

Page 30
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

BILL OF MATERIAL:-

SR. NO. COMPONENTS QUANTITY AMOUNT

1. Microcontroller 1 85/-
[89V51RD2]

2. L293D 1 70/-

3. 7805 2 12/-

4. TSOP1738 2 15

5. TIL38 2 10/-

6. Q804 1 55/-

7. Motor 2 300/-

8. PCB 3 200/-

9. Battery 1 250/-

10. Chassey 1 75/-

11. Crystal Oscillator 1 5/-

(11.059MHz)

12. Capacitor (4.7/63) 2 4/-

13. Capacitor(0.01,0.1,10) 6 15/-

14. Connector 4 12/-

15. Resistor box 1 35/-

Page 31
OBSTACLE AVOIDING ROBOT
PROJECT REPORT
16 Transistor 5 5/-

17 Tyres 2 80/-

18 DMM 1 100/-

19 14 Pin Base 1 4/-

20 40 Pin Base 1 4/-

21 Screws 20 36/-

22 Ball caster 1 30/-

23 Reset switch 1 2/

24 Transformer(9V/1A) 1 40/-

Total 1444/-

Page 32
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

REFERENCES

Page 33
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

REFERENCES:

The 8051 Micro controller and Embedded systems.

(pearson Education)By-M.A.Mazidi
1. Wikipedia - The free encyclopedia

2. http://www.8051projects.info/

3. http://www.instructabal.com/

6.http://www.alldatasheet.com/

7. http://www.datasheet4u.com/

8.http://www.datasheetcatalog.com/

Page 34
OBSTACLE AVOIDING ROBOT
PROJECT REPORT

Conclusion:-

Thus, we believe that our project will be beneficial for various

purposes & hence our efforts will be fruitful.

Page 35