An Autonomous Robot Based on a Wheelchair

Introduction:
Autonomous robots are physical entities capable of perception of an environment and act on it based on those perceptions, without direct supervision of any agents. They are the most evolved regarding information processing. These machines are able to perceiving, modeling the environment to plan and act to achieve goals without intervention, or with very little, from human supervisors. In a mobile robot, the obstacle avoidance must be the highest priority. Since it could crash or damage another object. This condition not only can risk the robot itself, but also third parties. Therefore the sensors have a great importance, since they can analyze the robot's environment and they can provide information for processing unit of the robot. The ultrasonic rangefinders are perfect for sensors. The analysis of their environment is essential not only to detect obstacles next to the robot but also to locate the machine on the globe. The location is obtained by using the Global Positioning System, GPS.

Existing System:
In this system the wheel chair is operated automatically or manually by turning the wheels chair using hands or external aids. But this system not helpful for paralyzed persons.

Proposed System:
This system presents the construction and design of autonomous Robot based wheel chair. It is also equipped with obstacle avoidance technique, where the person may not be able to provide proper control input at the right time. The wheel chair is operated using keypad, when start input is given the robot starts moving forward direction whenever an obstacle found the robot stop automatically. Ultrasonic sensor is used to find the obstacle on its way. The user can press left or right navigation key to turn the wheel chair. Here GPS receives current location and speed wheel chair, microcontroller displays these in LCD. The wheel chair can automatically

navigate at different location. Thus the above proposed system can be used by elderly and physically challenged people in day to day life even if they are alone at home.

Block Diagram:

Power Supply

Ultrasonic Sensor

LCD Display

AT89C51 Keypad for Emergency stop and Direction Control Microcontroller

Motor Driver Wheel Chair Robot Mechanism Motor Driver

Max232

GPS Receiver

Hardware Requirements:
AT89C51 microcontroller Ultrasonic Sensor GPS Receiver Keypad Relay with ULN 2003A LCD Wheel chair Robot mechanism

Software Requirements:
Keil C compiler Embedded C

Advantages:
It can be used for control in Home application. It can be used by paralyzed person