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| Top view of our Robot |
This is the abstract of our prize winning robot in the event Snakobot of EQUILIBRIO 2k14 ITGGV Bilaspur
Our Robot have successfully completed the arena with 52 seconds duration.
PROBLEM STATEMENT
We
started our project by choosing the problem statement of the event Snako-bot of
the annual technical festival of ITGGV Bilaspur. Problem statement can be found
at:
http://www.equifest.in
Our
basic aim was to create a line follower autonomous robot which would complete
the following two stages :
1.) Elimination round in which bot has to reach a
check point given in the arena.
2.) Final
round in which Bot have to folllow the whole path in minimum time.
COMPONENTS USED
1.) 1
Microcontroller - 1 Atmega 16
2.)
1 AVR Development Board
3.)
L293D (That is already attached in our board)
4.)
Sensor Plate (IR Sensors, We used 3 IR Sensors)
5.)
2 Motors (60 rpm)
6.)
1 Serial programmer
7.)
2 Plastic Tyres and 1 Castor Wheel
8.)
Chassis (We used an electric Switch Board)
9.)
Connecting wires and other tools.....
STEPS OF OUR PROJECT:
CONSTRUCTION AND DESIGN OF THE ROBOT: Our aim was to
make the bot turn within 22 cm, so we had to restrict the dimensions of the bot
to 18cmX13cm. We have used Electric
Switch Board Sheet as Chassis since it's strong and easily available. We had the sensor plate attached to the front of the bot about
1 cm from the ground, in front of the caster wheel and the two motors. On top
of the bot we mounted the development board which is inbuilt with L293D circuit
board.
ELECTRONICS: The
controlling of robot was done using a microcontroller. ATmega 16 was chosen at
it has all the required functionality. We purchased an AVR Development Board
from www.thinnkware.com. A serial programmer for the microcontroller was also
came with the board. For controlling the motors, an L293D is already attached
in our Development Board. Two 60 rpm motors were attached to the bot. A sensor
plate using a linear array of 3 IR sensors was used.
PROGRAMMING: We programmed our microcontroller using AVR DUDE, an embedded C Software, in which we
wrote our line following program in the C language. We converted the sensor
inputs using the ADC functionality of Atmega 16 (PORT A). We used PORT D for
outputs to L293 for motor driving. We converted our C program into a .hex file
for the microcontroller using the software Atmel Studio 6.1.
LOGIC &
ALGORITHM
STEP
1: START
STEP
2:IF (
ALL THREE SENSORS IN BLACK) or
(MIDDLE SENSOR IN BLACK & CORNER SENSORS IN WHITE ) then :
FORWORD or BOTH MOTOR
IN SAME SPEED & DIRECTION
STEP
3:IF(LEFT MOST TWO SENSORS IN BLACK )
then : TURN LEFT or LEFT MOTOR STOP & RIGHT MOTOR RUN ALONE
STEP
4:IF (RIGHT MOST TWO SENSORS IN BLACK ) then : TURN RIGHT or
RIGHT MOTOR STOP & LEFT MOTOR RUN ALONE
STEP 5
: GOTO STEP 2
STEP
6: EXIT
