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Design and Implementation of A Collision Avoidance System

This document outlines the design and implementation of a collision avoidance system for a mobile robot. The system uses IR proximity sensors and line following sensors to detect obstacles and follow a predetermined path. It is implemented using a PIC 18F4455 microcontroller to process sensor input and control DC motors to maneuver the robot. The collision avoidance algorithm calculates the sum of sensor values to determine proximity to obstacles and bias motor speed accordingly. The line follower and object follower functions enable the robot to navigate around a track and follow moving objects while avoiding collisions.

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Leevraj
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32 views12 pages

Design and Implementation of A Collision Avoidance System

This document outlines the design and implementation of a collision avoidance system for a mobile robot. The system uses IR proximity sensors and line following sensors to detect obstacles and follow a predetermined path. It is implemented using a PIC 18F4455 microcontroller to process sensor input and control DC motors to maneuver the robot. The collision avoidance algorithm calculates the sum of sensor values to determine proximity to obstacles and bias motor speed accordingly. The line follower and object follower functions enable the robot to navigate around a track and follow moving objects while avoiding collisions.

Uploaded by

Leevraj
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Design and Implementation of a

Collision Avoidance System For a


Mobile Robot

L. Neermul
Supervisor: Assoc. Prof. C Bhurtun

BEng (Hons)Electronic and Communication


Engineering
Department of Electrical and Electronic Engineering
University of Mauritius

Outline

Introduction
System Operation
Collision Avoidance & Path Planning
Line Follower
Object Follower
Implementation
Conclusion

Introduction
Industrial Robots, Service Robots &
Mobile Robots
Importance of Collision Avoidance
- Protect Mobile Devices & Environment
from
damage due to collision
-Designed to achieve higher autonomy
Components of Collision Avoidance
- Use of sensors (IR, Sonar, Visual) for
detection
- Use of controlled motors for motion

System Operation

PIC 18F4455 Microcontroller + Boot-loader


3 IR Proximity Sensors + 2 Line following
sensors
2 independently controlled DC Motors

System Operation

1. IR Sensors triggered by C
2. IR sensor signal fed to C
3. C processes sensor i/p through
algorithm
4. C then sends control signals to motor
controller
5. O/p Speed and direction of rotation to

Collision
Planning

Avoidance

&

Y0 = y1 + y2 + y3

Path

Line Follower
Predetermined path on floor
Both line sensors are read
0 - Reflective surfaces (High
IR intensity)
1- Non Reflective Surface
(Low IR intensity)
IF Right Sensor = 0, bias to
RIGHT
IF Left Sensor = 1, bias to LEFT
ELSE go FORWARD
Continuously check for
obstacles using proximity

Object Follower

Front-Left sensor Reading = {IR_Front} OR


{IR_Left}
Front-Right sensor Reading = {IR_Front} OR
{IR_Right}
Comparison between regions determines

Implementation
Collision Avoidance System

Implementation (ctd)
Line Follower

Path
Track

Conclusion
Mobile Robot System avoids obstacles
& reached predefined destination
Dynamic (moving) obstacles tackled
appropriately
Mobile Robot is almost autonomous &
may be implemented for larger scale
use
Enhancements such as sonar sensors
and optical wheel feedback may be
implemented to increase accuracy

Thank you

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