EDGE AVOIDER ROBOT USING I-BOT mini V3

EDGE AVOIDER USING I-BOT mini V3

Edge Avoider Robot is built using the IR based Line Detecting Module. The modules are connected in front of the I-BOT so as to detect the edge early and take proper action in time. The distance between the sensors is also maintained greater that the width of the I-BOT considering the turning radius of the wheels.

• When the surface is detected the IR module give a high pulse to the controller.

• When the edge is detected the IR module does not reflect light thus giving a low pulse to the controller.

An array of sensor is used to detect the edge. Based on the status of sensors, special circuit or controller decides the position of edge and also the required direction of motion required to follow the line. Motor driver circuit is used to ON/OFF the LEFT/RIGHT motors of the robot to provide desired motion.

BLOCK DIAGRAM

EDGE AVOIDER USING I-BOT mini V3

TABLE

CASE 2Ls = OFF Rs = OFF

CASE 1Ls = ON Rs = ON

Ls = ON Rs = ON

CASE 4Ls = ON Rs = OFF

CASE 3Ls = OFF Rs = ON

Ls = ON Rs = ON

Ls = ON Rs = ON

LEFT SENSOR RIGHT SENSOR MOVEMENT

ON ON FORWARD

OFF ON BACKWARD;DELAY;

RIGHT TURN;DELAY;

ON OFF BACKWARD;DELAY;

LEFT TURN;DELAY;

OFF OFF BACKWARD;DELAY;

RIGHT TURN;DELAY;

EDGE AVOIDER USING I-BOT mini V3

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