Interesting applications of this project are home automation or library assistance, search and rescue operation, navigation and detection and many more..

1. GRID FOLLOWING BOTS
Presented
By
Yashashree Wase
Masters in Electrical Engineering

2. Objective
• Concepts taken into consideration
• Details of Project
• Components Used
• Applications
• Future Directions
2

3. Swarm Robotics
3

4. Phases of the Project
4
• Phase I :
Master Scans the Grid and Sense object.
• Phase II :
Wireless Transmission Between Master and Slave.
• Phase III :
Slave Calculate shortest path
• Phase IV:
HMI display of the system (In Progress)

5. 5
M
End
X
(1,4)
(1,1) (4,1)
(4,4)
Master Robot scanning all the nodes of the grid in
the mesh formation
Y
START
Y ++
X++
Y- -
X- -

6. 6
M
End
X
(1,4)
(1,1) (4,1)
(4,4)
Master Robot scanning all the nodes of the grid
in Linear formation
Y
Start
Y ++
X++
Y- -
X- -

7. 7
Object
M
X
(1,4)
START
(4,1)
(4,4)
Master Robot finds the object on the Grid
Y
(1,1)
Y ++
X++
Y- -
X- -
(1,3)
(1,2) (3,2)

8. 8
Object
M
START
Y
X
(1,4)
(1,1) (4,1)
(4,4)
S
Communication between Master and Slave
Y ++
X++
Y- -
X- -

9. 9
Object
M
X
(1,4)
(1,1) (4,1)
(4,4)
S
Slave compute the shortest path to trace the object
Y
START
Y ++
X++
Y- -
X- -

10. Hardware
10
Hardware :
• IC’s
Microcontroller IC
Development Board
USB Programmer
LM324(comparator)
L293D(motor driver IC)
• IR Sensor’s
Line Follower Sensors
Obstacle Sensor
• LCD Screen
• DC motors
• Robot Chase

11. Programming Structure
11
1. Main Program Contains five Conditions
• Three for Black Line Follow
• Node detection
• Object Detection
2. Functions are generated for:
• Co-ordinates update
• Check-turn (Left turn or Right turn)
3. Transmission of co-ordinates

12. Flow Chart
12
START
Initialised
IO PORTS
Black line follower
conditions
Grid Node
Check
conditions
Grid Coordinate
update (x, y)
Check
Turn
END
Left Turn Right Turn

13. Applications
13
• Detection and Navigation
• Search and rescue
• Assistive co-ordination with human being
• Robots Helping one another to complete task
• Data Acquisition and Monitoring
• AD-Hoc Networking

14. Demonstration of the Project
14

15. LCD Screen displaying Co-ordinates and direction
15

16. Future Directions
16
• Artificial Intelligence(Decision making capability)
• We can add Advanced Peripherals to achieve complex task.
• We can use more than one Slaves.
• We can reduce the Hardware, form the miniature Robots to
increase the speed and precision.
• Instead of Grid, we can have several other platforms