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Mci Report

The RoboRace Royale project aims to develop an autonomous wall-following robot using sensors, microcontrollers, and actuators, with a focus on firmware design, structure, and component selection. Key elements include a modular firmware architecture, strategic sensor placement for obstacle detection and line tracking, and sustainability considerations in design. The report also outlines team responsibilities and provides a cost analysis for materials used in the robot's construction.

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21 views9 pages

Mci Report

The RoboRace Royale project aims to develop an autonomous wall-following robot using sensors, microcontrollers, and actuators, with a focus on firmware design, structure, and component selection. Key elements include a modular firmware architecture, strategic sensor placement for obstacle detection and line tracking, and sustainability considerations in design. The report also outlines team responsibilities and provides a cost analysis for materials used in the robot's construction.

Uploaded by

hamzaahmed200072
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EE376L/CE332L Microcontrollers and

Interfacing Lab
RoboRace Royale: Project Kickoff
Spring 2025

QUADBOT

Group Members:

Alleshba Chhipa (ac09507)


Muhammad Hamza Abbas (ma09338)
Muhammad Ali Anwar (ma09275)
Syed Hamza Ahmed Qadri (sq08401)
Table of Contents
1. Introduction

2. Conceptual Model of Firmware

3. Robot Structure Model

4. Sensor Selection and Justification

5. Units, Dimensions, and Conversion Factors

6. Material Selection and Cost Analysis

7. Sustainability in Design

8. Task Distribution

9. Arena Contribution

10.References
1. Introduction
The RoboRace Royale project focuses on developing an autonomous wall-
following robot that will navigate a predefined track using sensors,
microcontrollers, and actuators. This report outlines the firmware design,
structural model, sensor selection, materials, sustainability
considerations, and team contributions.
The purpose of this milestone is to ensure that the approach towards
designing the firmware, structure, and subcomponents of the robot is
well documented and meets the required specifications for successful
implementation.

2. Conceptual Model of Firmware


The firmware for the robot is designed with modular coding principles
using KEIL IDE. It consists of the following key elements:
• Main Control Loop: Governs overall robot operations and sensor
readings.
• Motor Control Module: Manages movement and turns using PWM
signals to control DC motors.
• Sensor Integration Module: Processes inputs from ultrasonic and IR
sensors for obstacle detection and line following.
• Collision Avoidance Algorithm: Uses sensor data to prevent
collisions and adjust the robot’s path.
• Switch Module: Allows manual control of robot start/stop
operations.
• Interrupt Service Routine (ISR): Handles real-time data processing
from sensors to ensure accurate and quick responses.
Each of these modules is structured as independent C driver files (.h and
.c) to ensure code reusability and clarity, allowing easy debugging and
updates.
3. Robot Structure Model
A hand-drawn sketch of the robot structure is included in the report
(refer to Appendix A). The sketch showcases:
• Placement of motors, sensors, microcontroller, switch, and power
module.
• Structural elements ensuring stability, balance, and durability.
• Adjustable sensor mounts to optimize data collection and
efficiency.
• A lightweight yet sturdy chassis to enhance mobility and
endurance.
• Two large wheels on the sides for movement and a rolling caster
wheel in the center for stability and smooth turning.
• Switch placement on the top-right side for easy manual control.

4. Sensor Selection and Justification


The robot utilizes the following sensors:
• Ultrasonic Sensors (HC-SR04): Used for obstacle detection and
maintaining a constant distance from walls.
• IR Sensors: Essential for detecting lines and guiding the robot along
the track.

Ultrasonic Sensor Placement:


1. Front-Center (1 Sensor, ~10 cm height) – Detects obstacles ahead
to prevent collisions.
2. Left-Side (1 Sensor, ~5 cm from chassis edge) – Ensures the robot
maintains a constant 25 cm distance from the left wall.
3. Right-Side (1 Sensor, ~5 cm from chassis edge) – Helps in path
correction and ensures the robot does not drift away.
4. Rear-Center (1 Sensor, at ~10 cm height) – Detects obstacles
behind when reversing.

IR Sensor Placement:
1. Two Bottom IR Sensors (Placed ~3 cm apart under chassis, near
rolling ball wheel) – Track line detection for accurate movement.
2. Front IR Sensors (One on each side, ~7 cm apart) – Helps fine
adjustments while making turns.(IF NEEDEED)

Justification:
• The Ultrasonic Sensors provide precise distance measurement and
help in avoiding obstacles.
• The IR Sensors ensure accurate line tracking, allowing the robot to
follow the predefined path smoothly.
• The Switch Module enables manual control, which is necessary for
starting/stopping operations.
5. Units, Dimensions, and Conversion Factors
Standard Units Used:
• Length: cm/mm
• Voltage: V
• Current: mA
• ADC Conversion Factor: The Tiva C board’s ADC converts sensor
outputs using the equation: This is critical for ensuring precise
sensor readings and motor control.
The robot’s maximum dimensions are 20cm x 15cm, ensuring that it
remains compact while accommodating necessary components.

6. Material Selection and Cost Analysis


Approximate Cost
Component Material
(PKR)
Chassis Plywood/Aluminum (lightweight, durable) 3000
Wheels & Motors Rubber & Metal (high traction) 4000
Plastic & Electronics (accurate
Ultrasonic Sensor 1500
measurement)
IR Sensor PCB & Lens (line tracking) 1200
Microcontroller (Tiva
PCB (high processing power) 8000
C)
Battery (Li-Ion) Lithium-Ion (long-lasting) 3000
Switch Plastic & Electronics (manual control) 800

7. Sustainability in Design
• Energy Efficiency: Low-power components minimize battery
consumption.
• Recyclable Materials: The chassis and modular electronics allow
easy replacement and reuse.
• Optimized Power Usage: Separate power sources for motors and
control systems enhance performance and longevity.
• Long-lasting Components: High-quality motors and sensors reduce
waste and replacement costs.
8. Task Distribution
Team Member Responsibility
Report Writing & System Testing (Including
Alleshba Chhipa
Switch Integration)
Muhammad Hamza
Hardware Assembly & Component Integration
Abbas
Muhammad Ali Anwar Firmware Development (KEIL IDE)
Syed Hamza Ahmed
Sensor Calibration & Testing
Qadri

9. Arena Contribution
A designated group volunteer actively participated in building the racing
arena. The arena was constructed following the competition guidelines,
ensuring accurate track measurements. ~SYED HAMZA AHMED QADRI

10. References
1. Microcontroller Datasheets - Tiva C User Guide
2. Sensor Datasheets - HC-SR04, IR Modules
3. KEIL IDE Programming Guide
4. Course Material - EE376L/CE332L
5. Related Research Papers on Autonomous Robots and Sensor
Integration

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