Autonomous Mobile Robot Navigating Towards A Preset Target

Yuzaine, Samilan (2007) Autonomous Mobile Robot Navigating Towards A Preset Target. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

'Autonomous mobile robot navigating towards a preset target' is a mobile robot that avoid the obstacles along it ways to the target. It uses three IR sensors, two ultrasonic sensors, servo motors and a PIC 16F877 as a central processor which will.control itself. This autonomous robot is pre-programmed with C language into the PIC 16F877 microcontroller by using Source boost IDE software. All the pins for sensors and motors must be identified first so that the robot program can identify the activated sensor. For IR sensor, the selection of the port must be considered for analog to digital converter port because PIC cannot read analog signal. In the program, when one of the infrared sensors is activated, it then will go to the target. However, when the ultrasonic sensor is activated, the infrared sensors will temporarily halt its job to allow the ultrasonic do it task. After the ultrasonic completed it task, the IR sensor will resume it job. Priority is given to Ultrasonic sensors, because it must avoid any collision with obstacles. 'Delay' function is used to make the sensor stop for while to search for the target or obstacle.

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