sensor based motion control mobile robot

1. Presented by
P. HYNDAVI
11RG1A0235
SENSOR BASED MOTION
CONTROL
OF
MOBILE CAR ROBOT

2. It contains different modules
 Object detection and angle determination in
the path using IR sensor.
 SMS protocol (F-Bus) development.
 Design of RF circuits for data transfer.


3.  "A reprogrammable, multifunctional manipulator
designed to move material, parts, tools, or
specialized devices through various programmed
motions for the performance of a variety of tasks"
What is a robot?
Role of Robotics in Industrial standards
Mostly automatic manipulation of rigid parts with
well-know shape in a specially prepared environment.
In Medical
Mostly semi-automatic manipulation of deformable objects in a
naturally created, space limited environment.

4.  Robot Manipulators
 Mobile Robots

5.  Walking Robots
 Humanoid Robots
Different types of ROBOTICS

6. Sensor-Driven Robot Control
• To accurately achieve a task in an
intelligent environment, a robot has
to be able to react dynamically to
changes ion its surrounding
 Robots need sensors to perceive the
environment
 Most robots use a set of different
sensors
• Different sensors serve different purposes
 Information from sensors has to be
integrated into the control of the robot

7. Robot Sensors
• Proximity sensors are used to measure the distance or
location of objects in the environment. This can then be
used to determine the location of the robot.
– Infrared sensors determine the distance to an object by measuring
the amount of infrared light the object reflects back to the robot
– Ultrasonic sensors (sonars) measure the time that an ultrasonic
signal takes until it returns to the robot
– Laser range finders determine distance by
measuring either the time it takes for a laser
beam to be reflected back to the robot or by
measuring where the laser hits the object

8. Robot Sensors
• Computer Vision provides robots with the
capability to passively observe the environment
– Stereo vision systems provide complete location
information using triangulation
– However, computer vision is very complex
• Correspondence problem makes stereo vision even more
difficult

9. Ways of connecting of mobile car robot

11. Robot Vs Human
 Human advantages:
 Intelligence
 Flexibility
 Adaptability
 Skill
 Can Learn
 Can Estimate
 Robot Advantages:
Strength
Accuracy
Speed
Does‘nt get tired
Does repetitive tasks
Can Measure

12. SMS based remote control system
BLOCK DIAGRAM
 Nokia 3310 phone has F-Bus connection that can be
used to connect the phone to a microcontroller.

13. TRIAC CIRCUIT
The device is driven by a triac circuit that acts as solid state
relay . The triac circuit is driven by DC voltage input and
typically 10 mA of current , which the microcontroller can
provide very easily . Thus turning on/off can be accomplished by
giving a logic high/low to the input of triac circuit

14. Design of RF circuits for data transfer
Radio is a device that wirelessly transmit or receive signals in the
radio frequency (RF) part of the electromagnetic spectrum to
facilitate the transfer of information. The front-end of a radio is
comprised of transmitter and receiver. Cellular/mobile radio
communications, WLAN, etc.,
Components involved in designing RF
circuits:
Low Noise Amplifiers
Mixers
Clock generators
Power Amplifiers
Antenna
Duplexer
Onchip passive components (Inductor,
Capacitor and transformer)

15. Example for RF circuit

17. ANY
QUERIES?