The document describes the design of an automated guided vehicle (AGV) that can avoid collisions with obstacles. The AGV uses infrared LEDs and receivers connected to a microcontroller to detect obstacles on its path and signals the motors to change direction accordingly. Key components include a chassis, motors, a microcontroller, motor driver, power supply and infrared sensors. The microcontroller is programmed using AVR Studio to control the motor directions based on input from the infrared sensors to navigate around any obstacles.

1. OBJECTIVE:
To design a prototype of AGV ( Automated Guided
Vehicle ) so that it will be able to avoid collision
with any obstacle in path of it. Path here will be a
route over which this AGV will travel, in a workshop
of an industry. Obstacle is anything that will lie on
path of AGV while it is performing its travelling.

2. METHODOLOGY:
 AGV’s are basically automatic transport vehicle.
‘Automatic ’ word refer here is fully autonomous or in
other words no human interference. This means that
once AGV is on, it will cover its path by itself.
 So for this, to achieve, we will have to design a
programmable circuit. Once an AGV is programmed, it
will follow the instruction given by its controller according
to programme.
 Now we will have to add electronic components in a
circuit along with microprocessor to avoid collision
during travelling. This electronic component is nothing
but an IR-LED (Infra Red –Light Emitting Diode).
Working of this IR -LED can be shown by following block
diagram:

4. According to above block diagram :
 IR-LED’s will detect obstacle: IR-LED’s continuously emit
IR rays. These signals when fall on obstacle, they will
reflect back to IR receiver.
 Signal to microcontroller : As soon as IR- receiver
detects IR rays, it will send signal to the microcontroller.

5.  Decision By Microcontroller : Now microcontroller will
take decision about this obstacle , and according to
programme embedded in it, it will send signals to motors.
 Rotation of Motors : Motor will rotate in the direction
followed by signals. Due to this, new path is selected by
AGV and it will run on that path, finally approaching
towards its target location.

6. FABRICATION OF
AGV

7. TO FABRICATE AGV FOLLOWING COMPONENTS ARE
NEEDED
 Mechanical Components: Chassis etc
 Electrical Components: motor, power supply etc
 Electronic Components: Development board,
microcontroller, IR-LED’s , Motor driver etc

8. CHASSIS
Technical Data for Chassis:
Feature Data
Length: 194mm
Breadth: 105mm
Height: 12mm
The chassis is fabricated from Plastic fibre .
There is a flange which holds the motor

9. Speed 100rpm
Rated voltage 12 V
Motor
Technical specification of Motor:
Motor is the device that converts electrical signal to rotational motion.
Motor used in our project is Plastic DC Geared motor

10. Development Board
A microcontroller development board
is a printed circuit board containing a microcontroller and other
Electronic Devices

11.  A microcontroller (µC, uC or MCU) is a small computer on a
single integrated circuit containing a processor core,
memory, and programmable input/output peripherals.
Microcontrollers are designed for embedded applications, in
contrast to the microprocessors used in personal computers
or other general purpose applications.
 The Microcontroller used in the AGV is ATMEL Atmega 16.
The reasons for using atmega 16 are
Cheap cost
Easy to program
Microcontroller

12. Pin configuration of atmega16

13. Type: 40Pin Dual Inline Package
Minimum /Maximum Voltage: 4.5/5.5V
Maximum current: 20mA
Number of PORTS 4
No of Data Pins per port 8
Bus width 8Bit
Oscillation Speed 16Mhz
Specification of ATmega 16 (MCU):

14. PIN Name Pin No Connected to:
Vcc 10 +5V
GND 11 GND
XTAL1 12 16Mhz Crystal
XTAL2 13 16Mhz Crystal
PD0 14 Data Pin of Receiever
PB4 3 L293D
PB5 4
PB6 5
PB7 6
Connections:

15. Motor Driver
Motor can not run on power that we get from output PINs of MCU ,
So, there is a need to use a amplifying Current IC that is L293D .
In this IC there is a provision of providing External Voltage up to 36V.

16. Type: 16Pin Dual Inline package
Max Logic Voltage: 5V
Max Supply Voltage: 36V
Channels: 2
Current per channel: 600mA
Technical Specification of L293D

17. IR Emitter and Receiever
IR emitter transmits the IR rays and Receiver that
receives the rays and send signal to MCU

18. Power supply
A power supply is a device that supplies electrical energy
to Development Board and Motors.

19. PROGRAMMING OF AGV

20. 1. Opening AVR Studio

21. 2. Entering project type, name and location.

22. 3. Selecting platform and device.

23. 4. The AVR Studio with a project file open.

24.  #include <avr/io.h>
 void Drive_Motor(unsigned char LEFT,unsigned char RGHT)
 {
 if(RGHT==0)//if right == 0 then right motor will stop
 {
 PORTB&=~_BV(5);
 PORTB&=~_BV(4);
 }
 if(RGHT==1)//if right == 1 then right motor will go forward
 {
 PORTB&=~_BV(5);
 PORTB|=_BV(4);
 }
 if(RGHT==2)//if right == 2 then right motor will go backward
 {
 PORTB|=_BV(5);
 PORTB&=~_BV(4);
 }

 if(LEFT==0)//if left == 0 then left motor will stop
 {
 PORTB&=~_BV(6);
 PORTB&=~_BV(7);
 //PC2=0;
 //PC3=0;
 }
 if(LEFT==1)//if left == 1 then left motor will go forward
 {
 PORTB&=~_BV(6);
 PORTB|=_BV(7);
 }
 if(LEFT==2)//if left == 2 then right motor will go backward
 {
 PORTB|=_BV(6);
 PORTB&=~_BV(7);
 }
 }

25.  int main(void)
 {
 DDRA=0x00; //Set PortA all pins as input
 DDRD=0xff; //Set PortD all pins as output
 DDRB=0xff; //Set PortB all pins as output
 PORTA=0xff; //Enable pullup on all PortA pins
 PORTD=0xff; //Make all pins of portD go high
 PORTB=0x00; //Make all pins of portB go low
 //when looking at the machine from the front
 while(1)
 {
 if((bit_is_clear(PINA, 1)) && (bit_is_clear(PINA, 2)) && (bit_is_clear(PINA, 3))) // if middle 3 on line go straight
 {
 Drive_Motor(1,1);//all 3 sensors on black line
 }
 else
 if((bit_is_set(PINA, 1)) && (bit_is_clear(PINA, 2)) && (bit_is_clear(PINA, 3)))
 {
 Drive_Motor(1,0);//left sensor on white patch
 }
 else
 if((bit_is_set(PINA, 1)) && (bit_is_set(PINA, 2)) && (bit_is_clear(PINA, 3)))
 {
 Drive_Motor(1,0);//left and middle sensor on white patch
 }
 else
 if((bit_is_clear(PINA, 1)) && (bit_is_clear(PINA, 2)) && (bit_is_set(PINA, 3)))
 {
 Drive_Motor(0,1);//right sensor on white patch
 }
 else
 if((bit_is_clear(PINA, 1)) && (bit_is_set(PINA, 2)) && (bit_is_set(PINA, 3)))
 {
 Drive_Motor(0,1);//middle & right sensor on white patch
 }

 }
 }

26. 5. Selecting menu Build | Rebuild All to create HEX
file.

27. Now we have to burn the programme to MCU. For this
purpose we need an interface between MCU and
programming device like laptop or computer. This interface
is known as programmer.
INTERFACE:
programmer

28. Opening Command prompt (cmd )

29. Burning programme to MCU

30. We have Done this

31. Our Aim
To run AGV On following path With Avoiding Obstacle

32. REFERENCE:
 www.saurabhsankule.com
 www.iitk.ac.in/eclub
 http://www.swisslog.com/index/hcs-index/hcs-
systems/hcs-agv.htm

33. THANK YOU