sensor based motion control of mobile car robot

Presented by

P. HYNDAVI

11RG1A0235

SENSOR BASED MOTION CONTROL

OFMOBILE CAR ROBOT

It contains different modules

Object detection and angle determination in the path using IR sensor.

SMS protocol (F-Bus) development.

Design of RF circuits for data transfer.

"A reprogrammable, multifunctional manipulatordesigned to move material, parts, tools, orspecialized devices through various programmedmotions for the performance of a variety of tasks"

What is a robot?

Role of Robotics in Industrial standards

Mostly automatic manipulation of rigid parts with well-know shape in a specially prepared environment.

In Medical

Mostly semi-automatic manipulation of deformable objects in a naturally created, space limited environment.

Robot Manipulators

Mobile Robots

Walking Robots

Humanoid Robots

Different types of ROBOTICS

Sensor-Driven Robot Control• To accurately achieve a task in an

intelligent environment, a robot has

to be able to react dynamically to

changes ion its surrounding

Robots need sensors to perceive the

environment

Most robots use a set of different

sensors

• Different sensors serve different purposes

Information from sensors has to be

integrated into the control of the robot

Robot Sensors• Proximity sensors are used to measure the distance or

location of objects in the environment. This can then be used to determine the location of the robot.– Infrared sensors determine the distance to an object by measuring

the amount of infrared light the object reflects back to the robot

– Ultrasonic sensors (sonars) measure the time that an ultrasonic signal takes until it returns to the robot

– Laser range finders determine distance by measuring either the time it takes for a laser beam to be reflected back to the robot or by measuring where the laser hits the object

Robot Sensors

• Computer Vision provides robots with the capability to passively observe the environment– Stereo vision systems provide complete location

information using triangulation

– However, computer vision is very complex• Correspondence problem makes stereo vision even more

difficult

Ways of connecting of mobile car robot

Robot Vs Human Human advantages:

Intelligence

Flexibility

Adaptability

Skill

Can Learn

Can Estimate

Robot Advantages:

StrengthAccuracySpeedDoes‘nt get tiredDoes repetitive tasksCan Measure

SMS based remote control system

BLOCK DIAGRAM

Nokia 3310 phone has F-Bus connection that can be used to connect the phone to a microcontroller.

TRIAC CIRCUIT

The device is driven by a triac circuit that acts as solid staterelay . The triac circuit is driven by DC voltage input andtypically 10 mA of current , which the microcontroller canprovide very easily . Thus turning on/off can be accomplished bygiving a logic high/low to the input of triac circuit

Design of RF circuits for data transfer

Radio is a device that wirelessly transmit or receive signals in the radio frequency (RF) part of the electromagnetic spectrum to facilitate the transfer of information. The front-end of a radio is comprised of transmitter and receiver. Cellular/mobile radio communications, WLAN, etc.,

Components involved in designing RF circuits:

Low Noise AmplifiersMixersClock generatorsPower AmplifiersAntennaDuplexerOnchip passive components (Inductor, Capacitor and transformer)

Example for RF circuit

ANY

QUERIES?