Pathfinder

Microcontroller based robotic path finder No:
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Acknowledge ment
Dept. of Electronics and Communication., SSIT, Tum ur
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Synopsis
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Introduction
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INTRODUCTION
The leading technology and greed for comfort has burnt down the hard and mechanical means of performing things. The new age, demands for a better and sophisticated approach to perform things in an easier and efficient manner. The technology has added its flavours and vigor to make things better. This project is a direct implementation of such need. The present day life has become much competitive to distribute the most precise instrument that is implemented or installed with the least effort. Robotics is a vast branch of science by itself that has its roots in mechanics, but can simplify the work load by many folds. The advantages of using robotics are its efficiency, precision, accuracy, speed, reliability, etc. The repeatability and strength of motion also adds on to the advantages. The controlling of this instrumentation is made much easier by sufficient interface with the user. This could be made possible with the help of the controlling unit, microcontroller. The project here has a wide application in places where there requires least human intervention. The most important of such application is that of the space applications. The human life is the cannot sustain in such places. Hence, the use of products such as this project is one of the most applicable one.
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Block Diagram
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BLOCK DIAGRAM
BLOCK DIAGRAM
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The block diagram of this project is as shown in the diagram (fig .!". The major parts of the project are the mechanical setup and the hardware.
MECHANICAL SETUP:
The mechanicals are designed using two stepper motors. #ne stepper motor is coupled with steering arrangement. This forms the steering of the vehicle, which is used to turn left or right. The posterior part consists of another stepper motor. This stepper motor is coupled through sprocket through a chain and given to the transmission assembly. This directs the vehicle on its path.(forward or reverse". The different obstacles present on its path determine the direction of the vehicle. This is done to avoid any human control. The vehicle moves in reverse direction when there is no free path in the front side for a small distance and takes diversion to left (default" and continues to move in forward direction.
HARDWARE:
The hardware setup consists of the following$ Two %&' microcontrollers. Two stepper motors. %ower (upply. Regulator. %)* module. &R Transmitters and Receivers.
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Hardware
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POWER SUPPLY UNIT:

%ower supply unit consists of two batteries of +,-, ../0.H each. The two batteries are connected in series and is applied to the voltage regulator. The +,- is given to the stepper motors. The output from regulator is applied to the microcontroller. The voltage regulator 1* 2/34 is used to give regulated voltage of +5V.
REGULATOR :( LM 7805)
The popular &' series of three terminal regulators is u,2/55and u,2655. The series u,2/55 is the series of three terminal positive voltage regulators while u02655 is the series of three terminal negative voltage regulators. The last two digits denoted as 55, indicate the output voltage rating of the &'. (uch series is available with seven voltage options as indicated below$
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The 2655 series voltage regulators are available with same seven options as 2/55 series, as indicated in above table. &n addition, two e7tra voltages - and 84. are also available with &'s263 and 2634. respectively. The &'s are provided with adequate heat sinking and can deliver output currents more than !0. These &'s do not require e7ternal components. These are provided with internal thermal protection, overload and short circuit protection. The internal circuit diagram of u02u55 series of three terminal positive voltage regulator is shown below.
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The error amplifier is formed by the transistors 9! through 9!!.&ts function is to maintain a regulated voltage of say 4 - at the base of 9,. This ensures -ref of 4 -. The resistances R&6 and R 3 form the feedback network hence the output voltage at pin is$
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The tap on R 3 is factory selected which makes the device to work as 2/34, 2/! or other.The transistors 9, and 92 form the :arlington pair which acts as series pass element. The resistance R!! and 9!4 provide overload protection. )hile the : and R!. provide the (#0 protection.9!; acts as a temperature sensor and provides thermal shutdown when temperature increases above about !43<'. The :! and the relate circuit bias the sensor 9!; and also provide the startup circuitry. The ma7imum input voltage is .4 - and the ma7imum dropout voltage is .4 -. (o for the 4 - regulators the input -in must be at least 4 + .4 = 2.4 -. (o input range is 2.4 - to .4 - to get 4 - regulated output. &t is very easy to use such an &' to get regulator circuit. 0 typical circuit connection of u02/34 regulator is as shown below$
>igure...4$ Typical 'ircuit 'onnection of u02/34 Regulator.
IR TRANSMITTER:
0 long distance &R 1?: is used for transmission, which is driven by transistor (1!33. The output of the modulator, is applied to the input of small signal ./BHC. &t is modulated with !33HC signal which can be received by the &R receiver. The transmitter circuit is shown in below. @%@ transistor. &t transmits light upto ;4 degrees to itAs sides and works at frequency of
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ITS FEATURES ARE AS FOLLOWS: Da0s infrared emitting diode, fabricated in a liquid phase epita7y process High reliability High pulse handling capability 1ong leads Recommended, specifications are provided in the appendi7.
APPLI ATIO!S: Remote control of hi8fi and T-8sets, videotape recorders, dimmers Remote control of various equipment %hoto interrupters
IR RECEIVER(TSOP1738)
These are miniaturiCed receivers for infrared remote control systems. %in diode and preamplifiers are assembled on lead frame, the epo7y package is designed as &R filter. The demodulated output signal can directly be decoded by a
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microprocessor.T(#%!2./ is the standard &R remote control receiver series, supporting all major transmission code. The data sheets for T(#%!2./ are affi7ed in appendi7.
FEATURES:
%hoto detector and pre amplifier in one package &nternal filter for %'* frequency &mproved shielding against electrical field disturbance TT1 and '*#( compatibility #utput active low 1ow power consumption. High immunity against ambient light continuous data transmission possible(up to ;33 bps" (uitable burst length !3 cyclesEburst
R?'?&-?R '&R'F&T
MICROCONTROLLER:
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Features:
%&'!,>/22 is a ;3 pin dual in package &'. &t is an / bit '*#( >10(H microcontroller which has the following features.
o"e Feat#"es:
High performance R&(' '%F. #nly .4 single word instructions to learn. 0ll single cycle instructions e7cept for program branches which are two cycle. #perating speed$ :'8 3 *HC clock input. :'8 33 ns instruction cycle. Fp to /B 7 !; words of >10(H %rogram *emory. Fp to .,/ 7 / bytes of :ata *emory (R0*". Fp to 4, 7 / bytes of ??%R#* :ata *emory. %in out compatible to the %&'!,'2.GE2;GE2,E22. &nterrupt capability (up to !; sources". ?ight level deep hardware stack. :irect, indirect and relative addressing modes. %ower8on Reset (%#R". %ower8up Timer (%)RT" and #scillator (tart8up Timer (#(T". )atchdog Timer ():T" with its own on8chip R' #scillator for reliable operation. %rogrammable code protection. %ower saving (1??% mode. (electable #scillator options. 1ow power, high speed '*#( >10(H E ??%R#* technology. >ully static design.
&n8'ircuit (erial %rogramming T*(&'(%" via two pms.

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(ingle 4- &n8'ircuit (erial %rogramming capability. &n8'ircuit :ebugging via two pins. %rocessor readEwrite access to program memory. )ide operating voltage range$ .3- to 4.4-. High (ink E (ource 'urrent$ 4 m0. 'ommercial, &ndustrial H ?7tended temperature ranges. 1ow8power consumption$ 8 I 3., m0 typical J.-, ; *HC 8 3 K..l0 typical J .-, . kHC 8 I ! K..t0 typical standby current.
Pe"ip$e"a% Feat#"es: Timer3$ /8bit timerEcounter with /8bit prescaler Timer!$ !,8bit timerEcounter with prescaler, can be incremented during (1??% via e7ternal crystalEclock Timer $ /8bit timerEcounter with /8bit period register, prescaler and postscaler
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Two 'apture, 'ompare, %)* modules 8 8 8 'apture is !,8bit, ma7. resolution is ! .4 ns 'ompare is !,8bit, ma7. resolution is 33 ns %)* ma7. resolution is !38bit
!38bit multi8channel 0nalog8to8:igital converter (ynchronous (erial %ort (((%" with (%& L(*aster mode" and & ' L(*asterE(lave" Fniversal (ynchronous 0synchronous Receiver Transmitter (F(0RTE('&" with 68bit address detection %arallel (lave %ort (%(%" /8bits wide, with e7ternal R:, )R and '( controls (;3E;;8pin only" Grown8out detection circuitry for Grown8out Reset (G#R"
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BLOCK DIAGRAM OF PIC16F877
OSCILLATOR:
The %&'!,>/25 can be operated in four different modes. The user can program two configuration bits (>#('l and >#('#" to select one of these four modes$ 1% 1ow %ower 'rystal 5T 'rystalEResonator H( High (peed 'rystalEResonator R' Resistor E 'apacitor &n 5T, 1% or H( modes, a crystal or ceramic resonator is connected to the #('lE'1B&@ and #(' E'1B#FT pins to establish oscillation >igure. The %&'!,>/25 oscillator design requires the use of a parallel cut crystal. Fse of a series cut crystal may give a frequency out of the crystal manufacturers specifications. )hen in 5T, 1% or H( modes, the device can have an e7ternal clock source to drive the #('! E '1B&@ pin.
Figure 3.9: Cr sta!"Cera#i$ Res%&at%r O'erati%& (HS) *T %r LP OSC C%&+igurati%&,
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DESCRIPTION:
%&' !,>/220 is used to controls the motion the vehicle. Two microcontrollers are used in this project. The first microcontroller is used to rotate the stepper motor which is used for steering. The second microcontroller is used to drive the stepper motor which is used for transmission.
PORT CONFIGURATION:
&n the first microcontroller the three bits of port 0 is configured to acquire the data from the three &R8 trasreceiver, which outputs ! if there are any obstacle present in the path of the signal transmission. &f the obstacles present in all directions the all &R8 trasreceiver outputs !,otherwise if there are no obstacles present, then the output is 3.
The first microcontroller is programmed to rotate the stepper motor right or left according to the data acquired from the port 0. The first four bits of port: is configured to drive the stepper motor. &t sets the two bits of port' according to the signal received by port0, these bits are responsible for the movement of the vehicle in forward or reverse direction. The second microcontroller receives signals from port' of the first microcontroller to the port:. &t is programmed to drive the stepper motor in forward or reverse direction according to the two bits of port:. The port' is used to drive the stepper motor.
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The schematic of port connections are shown in >ig
PORT CONNECTIONS OF -ICROCONTROLLER
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3.3 Ste''er -%t%rs

Two (tepper motors have been used in the project to control motion of the vehicle. (tepper motor ! is used for steering, which rotates left or right and stepper motor used for drive. The (pecifications of the (tepper motors are Torque$ !3kg8m H ;kg8m 'urrent Rating$ amps. is
Resolution$ !./ degEstep.
3.. Ste''er -%t%r Dri/i&g Car0

The circuit diagram of the stepper motor driving card is as shown in fig ..;.!.
(tepper motor requires
0mps while the controller can source only 4ma.Thus motor has a built in
driving circuit is required to get a necessary driving current. The &' T&%! *K?.344. The further details of the &' T&%! is provided in the 0ppendi7.
:arlington %air, which can replace the combination of two Transistors like (1!33 and
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Ste''er -%t%r Dri/i&g $ir$uit
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Circuit Diagram
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CO-PLETE CIRCUIT DIAGRA-
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CIRCUIT DESCRIPTION:
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Flowchart
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FLOW &ART
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Software
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PROGRAM FOR STEERING MOVEMENT(IC1,

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5. est! "esults and Conclusion
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RESULT
The project was successfully accomplished and a good running project was displayed. The objective of the project of performing the different rotations when faced by any number of obstacles was conducted in a successful manner. The vehicle was also hindered on all the directions and the changes of the directions were prominently observed. The vehicle could respond to all the obstacle in all the directions. The vehicle could judge its own path when obstructed in any direction.
CONCLUSION
The project was well established and has proved a good standing e7ample of a robotics implemented, automated unit. The implementation of this project in a better environment requires much better fabrication of the mechanical setup. This could provide a better support to perform the required task.
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Future enhancement
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FUTURE ENHANCE-ENT:
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3I3LIOGRAPHY
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Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

POWER SUPPLY UNIT:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

>igure...4$ Typical 'ircuit 'onnection of u02/34 Regulator.

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

&n8'ircuit (erial %rogramming T*(&'(%" via two pms.

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

BLOCK DIAGRAM OF PIC16F877

Figure 3.9: Cr sta!"Cera#i$ Res%&at%r O'erati%& (HS) *T %r LP OSC C%&+igurati%&,

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

The schematic of port connections are shown in >ig

PORT CONNECTIONS OF -ICROCONTROLLER

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

3.3 Ste''er -%t%rs

Resolution$ !./ degEstep.

3.. Ste''er -%t%r Dri/i&g Car0

(tepper motor requires

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Ste''er -%t%r Dri/i&g $ir$uit

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

Dept. of Electronics and Communication., SSIT, Tum ur

Microcontroller based robotic path finder No:

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