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A COLLISSION AVOIDANCE ROBOT SYSTEM
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INTRODUCTION--
As name suggest a system which is able to detect obstacle in a path and avoids collision.
Its application can be realized as a motor car with collision avoidance system, which can be recognized as a most reliable and very much secured car, or car with some intelligence part. Intelligence is achieved by complex programming. Which is the flexibility of this robot incorporating the collision avoidance system.
Talking as a effectiveness of this system, it is prime function of most of the robots that it should detect obstacle and find its path through it.
A C. A. system discussed here is originated from same desire .
SENSOR—
A robot is a atomatic device which is capable of recognizing a surrounding things and accept these as a input and gives output which is nothing but the behavior of robot.
Now to accept the input from surrounding it should have some hardware which ineract between robotic system and surrounding. Which is nothing but sensors.
There are wide variety of sensors temperature sensors,optical sensors,pressure sensors,sound sensors,touch sensors etc.
In this system we have used a optical sensors.
Different optical sensors—
Photodiode with IR LED
LDR with white LED
TSOP17XX with IR LED
Photo transistor with IR LED
May be c.c.d. camera
Among all these sensors camera is the most accurate and reliable to use as a transducer.tsop17xx has a very high range so it can be used to detect an obstacle far from the vehicle. next for small scale applications LDR ,photodiodes and photo transistors are preferred.
We tested our system with both LDR and tsop 1738 its functionality is better.
According to this algo robot has one degree of freedom by changing hardware we can have two degree of freedom.
By making some modifications in programming we can give artificial intelligence to same robot which will give various functions according to conditions like after tracing same path twice robot will stop,that is it understands that there is not a path to move at different location By alternating program a obstacle following robot can be tried in which robot moves towards obstacle following it .
MICROCONTROLLER PROGRAM CODE-
P3.7- red led
P1.0-back sensor led
P1.1-back sensor
P1.2- motor(p1.5)
P1.4-motor(p1.3)
P1.6-front sensor
P1.7-front led
Org 0000h
Clr p3.7
Acall Delay
Setb p3.7
Setb p1.0
Setbp1.7
Front:clr c
Mov c,p1.6
Jnc back
Setb p1.2
Setbp1.5
Clr p1.3
Clr p1.4
Sjmp front
Back: Clr c
Mov c,p1.1
Jnc stop
Clr p1.2
Clr p1.5
Setb p1.3
Setb p1.4
Sjmp front
Stop:clr p3.7
Acall delay
Setb p3.7
Clr p1.2
Clr p1.5
Clr p1.3
Clr p1.4
Sjmp front
Delay:mov r7,#0ffh
Delay1:mov r5,#0ffh
Djnz r5,Delay1
Djnz r7,Delay
ret
Actual Robot Photos -
Actual Robot Working Video -
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