Obstacle Avoidance and Line Following
Object detection sensors mounted on the front of the
robot������������������������������������������������������ Line
Following sensors mounted on the bottom of the robot
Goals:
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Line Following
Capability
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The robot will be
able to follow a certain path laid out by a piece of painters tape.
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This allows for
advance navigation as the robot is non-determinant on a hard coded navigation
path�
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Obstacle
Avoidance
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The robot will be
able to detect objects that come in viewing range of the robot
-�� The robot
will be able to move around the object and back to the tape path it was
following
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Low Cost
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These
modifications are to be done as cheaply as possible for upgrade on freshman
level robots
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Off the shelf
parts are being used for economic constraints
Design Scheme:
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Line Following
Capability
-
To achieve line
following there will be three sensor pairs, made up of one infrared emitter (QED522) and one
infrared detector (QSD722),
oriented on the bottom of the robot.
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The Circuit below
is how one sensor pair will be connected to the Microcontroller on the robot.
The Detector Circuit for the Line Following
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Obstacle
Avoidance
-
To achieve
obstacle avoidance there will be three sensors (sharp GP2D12)
configured with one pointing forward and two pointing at a fixed angle to the
sides.
-
The Circuit below
is how one sensor will be connected to the Microcontroller on the robot.
Circuit Schematic for
object detection sensor
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Block Diagram
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Program Flow
Chart
From Left to Right:
Paul Ewalt, Jonathan Hryszko, Michael Schmidt
Not Shown
Advisor: Robert C. Maher