The document discusses the development of a grid-solving robot using IR sensors for line navigation and an Atmega16 microcontroller for path planning through Dijkstra's algorithm. It outlines hardware components, the system architecture, and future improvements involving FPGA technology and A* search algorithm. The project aims to enhance autonomous navigation systems for industrial applications.

1. Grid Solving Robot
SUBMITED BY
Mr. Akshay S. Khadke

2. Contents
 Introduction
 Environment used for robot navigation
 Hardware development
 Block diagram of over all system
 Algorithm used
 Future work
 Conclusion
 References

3. INTRODUCTION
 Transportation of raw materials and
finished products is typical in an industry.
 Here we use IR sensors for sensing the
line.
 The obstacle and object is placed on the
junction.

4. ENVIRONMENTS USED FOR
ROBOT NAVIGATION
 Type of Grid
 Grid Mapping
 Coordinate System
of Grid

5. ENVIRONMENTS USED FOR
ROBOT NAVIGATION
 Obstacle
 Object

6. HARDWARE DEVELOPMENT
 Chassis
 DC motors
 Rubber-wheels
 Line sensor
 Aluminium sheet
 Servo-motors
 Microcontroller

7. Block diagram of the total
electronic system

8. Arrangement of the sensors
for line-tracking and crossing-
detection

9. Line following & Cross-counting
mechanism

10. Circuit Diagram for DC-motor
control using L-298

11. Servo motor Control
Line sensor Interfacing
 Servo-motor
 Line sensor

12. ALGORITHM USED
 Dijkistra’s Algorithm
 For a given source vertex (node) in
the graph, the algorithm finds the path
with lowest cost (i.e. the shortest path)
between that vertex and every other
vertex.

13. Calculating Direction

14. Flow Charts

15. FUTURE WORK
This robot is run by an 8 bit
microcontroller with limited processing
power. In future, FPGA will be used for
robust processing and control. A*
search
will be implemented for robust grid-
solving.

16. CONCLUSIONS
Grid Solving Robot is an autonomous
mobile robot capable of localizing itself in a
2D world and planning its path towards
destination by means of Dijkstra's Algorithm
implemented in ATmega16 microcontroller.
A large scale prototype customized for
factories will be very promising. These
Algorithm will be useful in the field of robot
navigation system .

17. REFERENCES
 Lalit Gehlod, Vaibhav Jain, Mala Dutta, Devesh
Kumar Lal. A Grid Based Robot Navigation by
Using Priority Algorithm. IJARCCE Magazine,
Vol. 2, Issue 8, August 2013.
 Ahmedullah Aziz, Md. Shafayat Hossain ,
Mohammad Wahidur Rahman. Programming
And Construction Of Ahemaddula-A Fast Grid-
Solving Robot. IJITCA ,Vol.3, No.1, January
2013.
 Toshendra K. Sharma, Robotics with AVR, RSI
publication, second edition 2011.
 Atmel. (2010, Oct. 20). “ATMEGA 16
datasheet.” [On-line]. Pp. 1-356.

18. Thank U !