Grid Solving Robot

SUBMITED BY

Mr. Akshay S. Khadke

Contents

Introduction

Environment used for robot navigation

Hardware development

Block diagram of over all system

Algorithm used

Future work

Conclusion

References

INTRODUCTION

Transportation of raw materials and

finished products is typical in an industry.

Here we use IR sensors for sensing the

line.

The obstacle and object is placed on the

junction.

ENVIRONMENTS USED FOR

ROBOT NAVIGATION

Type of Grid

Grid Mapping

Coordinate System

of Grid

ENVIRONMENTS USED FOR

ROBOT NAVIGATION Obstacle

Object

HARDWARE DEVELOPMENT

Chassis

DC motors

Rubber-wheels

Line sensor

Aluminium sheet

Servo-motors

Microcontroller

Block diagram of the total

electronic system

Arrangement of the sensors

for line-tracking and crossing-

detection

Line following & Cross-counting

mechanism

Circuit Diagram for DC-motor

control using L-298

Servo motor Control

Line sensor Interfacing

Servo-motor

Line sensor

ALGORITHM USED

Dijkistra’s Algorithm

For a given source vertex (node) in

the graph, the algorithm finds the path

with lowest cost (i.e. the shortest path)

between that vertex and every other

vertex.

Calculating Direction

Flow Charts

FUTURE WORK

This robot is run by an 8 bit

microcontroller with limited processing

power. In future, FPGA will be used for

robust processing and control. A*

search

will be implemented for robust grid-

solving.

CONCLUSIONS

Grid Solving Robot is an autonomous

mobile robot capable of localizing itself in a

2D world and planning its path towards

destination by means of Dijkstra's Algorithm

implemented in ATmega16 microcontroller.

A large scale prototype customized for

factories will be very promising. These

Algorithm will be useful in the field of robot

navigation system .

REFERENCES

Lalit Gehlod, Vaibhav Jain, Mala Dutta, Devesh

Kumar Lal. A Grid Based Robot Navigation by

Using Priority Algorithm. IJARCCE Magazine,

Vol. 2, Issue 8, August 2013.

Ahmedullah Aziz, Md. Shafayat Hossain ,

Mohammad Wahidur Rahman. Programming

And Construction Of Ahemaddula-A Fast Grid-

Solving Robot. IJITCA ,Vol.3, No.1, January

2013.

Toshendra K. Sharma, Robotics with AVR, RSI

publication, second edition 2011.

Atmel. (2010, Oct. 20). “ATMEGA 16

datasheet.” [On-line]. Pp. 1-356.

Thank U !