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Obstacle Detection and Pathfinding Robot

This document describes an obstacle detection and pathfinding robot project created by four members. The robot uses an infrared sensor to detect obstacles and determine whether to follow a straight path or turn. A PIC16F877A microcontroller receives signals from the sensor and controls two motors to navigate around obstacles. The microcontroller code is programmed using KEIL and simulated using PROTEUS7 software.

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73 views7 pages

Obstacle Detection and Pathfinding Robot

This document describes an obstacle detection and pathfinding robot project created by four members. The robot uses an infrared sensor to detect obstacles and determine whether to follow a straight path or turn. A PIC16F877A microcontroller receives signals from the sensor and controls two motors to navigate around obstacles. The microcontroller code is programmed using KEIL and simulated using PROTEUS7 software.

Uploaded by

ammunive
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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OBSTACLE DETECTION AND PATHFINDING ROBOT

PROJECT-MEMBERS:

T.DINESHKUMAR(M07EC016)

G.KALAIARASAN(M07EC028)

S.DHINESH(M07EC024)

B.ARUNCHAKRAVARTHI(M07EC006)
ABSTRACT:

Today robots are employed for the various applications due the increased
performance and time consumption.They perform various ridiculous jobs which
cannot be performed by normal human beings such as monitoring nuclear reactors,
grassing etc. Line follower is a machine that can follow a path. The path can be
visible like a blackline on a white surface (or vice-versa) or it can be invisible like a
magnetic field.In this project we are going to design a robot which automatically
isolates the obstacles and follows correct path.Here we make use of a IRSENSOR
which senses a distance up to 3cm resulting in obstacle detection and pathfinding.
PIC16F877A is the heart of our system which decides whether the robot has to
follow the straight line path or to turn right or left. The microcontroller receives the
signal from the sensor and directs the robot. At the output port LCD is used to
display the position of the robot .Here the corresponding codes for pic is
programmed using KEILµVISION.By the use of the above compiler the hexcode is
generated .PROTEUS7 is used for the purpose of realtime simulation of our system.
BLOCK DIAGRAM:

MOTOR1

PIC ROBOT
16F877A
IRSENSOR
MOTOR2

Here the IRSENSOR provides the signal to the microcontroller .Based on the
signal the motor turns ON and OFF.When the sensor is enabled to the
microcontroller the robot follows the straight line path because both the motors
turned ON.When the IRSENSOR is not enabled to the microcontroller motor1 is
turned ON and motor2 is turned OFF.
DATASHEET OF PIC16F877A:
FEATURES:

1.All single-cycle instructions except for program


branches, which are two-cycle
2.Operating speed: DC – 20 MHz clock input
3.DC – 200 ns instruction cycle
4.Up to 8K x 14 words of Flash Program Memory,
5.Up to 368 x 8 bytes of Data Memory (RAM),
6.Up to 256 x 8 bytes of EEPROM Data Memory
7.Pinout compatible to other 28-pin or 40/44-pin
PIC16CXXX and PIC16FXXX microcontrollers

ANALOG FEATURES:

1. 10-bit, up to 8-channel Analog-to-Digital


Converter (A/D)
2.Brown-out Reset (BOR)
3.Analog Comparator module with:
4.Two analog comparators
5.Programmable on-chip voltage reference
(VREF) module
6.Programmable input multiplexing from device
inputs and internal voltage reference
7.Comparator outputs are externally accessible
EMBEDDED C CODE:
#include <REGX51.H>
sbit sensor=P1^0;
sbit motor1=P1^1;
sbit motor2=P1^2;
void main()
{
while(1)
{
if(sensor==1)
{
motor1=1;
motor2=1;
}
else
{
motor1=1;
motor2=0;
}
}
}
HARDWARE STRUCTURE:

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