Presented by: Guided by :

•MUKUND BIHARI(ECE)
•DIPU KUMARI(AEIE)
•Mr. S.K. Das(Scientist , CMERI , Durgapur.)
•SUPRIYA(AEIE) •Mr. Prajit Paul (Lecturer , Asansol
•AATREYEE Engineering College)
SARKAR(AEIE)
MUKUND BIHARI(Asansol Engineering College)--9475940432
 A microcontroller based programmable
obstacle detection and avoidance
mechanism for mobile robot.
 Works on the decision making and
controlling action.
 Uses IR sensors to detect obstacle and
accordingly the vehicle moves.
 Uses 8052 microcontroller programming
language.
 Voltage comparators are used to compare
the sensor data to detect any obstacle.
Asansol Engineering College
 Data from sensors

Obstacle
NO
Obstacle Obstacle Obstacle in front ,
obstacle in
in front in left in right left &
front
right

Both motor ON in Left motor ON Left motor ON Right motor ON Both motor ON in
forward direction Right motor OFF Right motor OFF Left motor OFF reverse direction

Obstacle
Both motor OFF in every
direction

Asansol Engineering College

Microcontroller AT89C52
Infrared Sensors SHARP
GP2D12
DC motor
DC motor driver circuit
using
L293D
Comparator circuit using
LM311P
Voltage Regulator
LM7805
Alumunium Vehicle Base
 Asansol Engineering College
Asansol Engineering College
SENSO
R
Vref
LM311
MOTOR 1

SENSO
R Vref LM311
L293
AT89
D
C52
SENSO LM311
R Vref

MOTOR 2

SENSO LM311
R Vref

Asansol Engineering College

An eight bit ALU
 32 discrete I/O pins (4 groups
of 8) which can be individually
accessed.
Three 16- bit timer/counters.
 Full duplex UART.
 6 interrupt sources with 2
priority levels.
 128 bytes of on board RAM.
 Separate 64k byte address
spaces for data and code memory
A full duplex serial port
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VCC

TO MOTOR

PORT 0 PORT 2

PORT 1 PORT 3

FROM
COMPARATOR

GND
8.2k

Asansol Engineering College

The two basic parts for
working with IR are the
emitter and the detector.
 The emitter is typically
an LED that emits near-
infrared light.
A typical wavelength is
880nm, which is just
beyond the human
visiblity.

Asansol Engineering College

Operating Voltage: 12V
Output Current: 50 A
Bidirectional rotation

DC motor

 Quadruple half H-bridge

bidirectional motor driver
IC
 600-mA Output current
capability per driver
 Supply Voltage Range 4.5V
to 36V
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 I/P I/P

5 V VOLTAGE
REGULATOR

GND
I/P I/P
12V
BATTERY

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The LM311 are single
high-speed
voltage comparators

The output levels are

compatible
with most TTL and
MOS circuits.

The LM311 are voltage

comparators that have
low
input currents.

Asansol Engineering College

Asansol Engineering College
 12V IN4007
5V

LM7805
330µ
F
10µ 0.1µ
F F

Three-terminal positive GND

voltage
regulator.
Built-in current limiting,
thermal
shutdown, and safe- Asansol Engineering College
The industry-standard Keil
C Compilers, Macro
Assemblers, Debuggers,
Real-time Kernels, and
Single-board Computers
support ALL 8051-
compatible derivatives

The 8051 Instruction Set is

supported by the Keil
Ax51 Macro Assembler
and the in-line Assembler
of the Keil Cx51 Compiler.

Asansol Engineering College

Asansol Engineering College
Binary format of C program is
loaded into the microcontroller
with ALL 100 Burner connected
to computer through a USB port.

Inbuilt Hex to Binary , Binary to

Hex Coverter.

It can programm ICs upto 48 pin.

Asansol Engineering College

Asansol Engineering College
Asansol Engineering College
Use of differential steering with gradual change in wheel speeds.

Use of Hysteresis in sensor circuit using LM339

Increment in number of sensors to enhance the obstacle detection

capibilty

Incorporation of a camera whose data can be send through wirless

tehnology to a fixed station.

Incorporation of robotic hand to remove the obstacle in case there

is no way for the movement of
the robot.

General improvements like using a low dropout voltage regulator,

lighter chassis etc.

Asansol Engineering College

Asansol Engineering College