The document describes a proposal for a line maze solver robot project. It includes an introduction to line mazes, the objectives of the project to build an autonomous robot that can solve a line maze, and the key components and methodology. The robot will use 6 light sensors to detect the black line on a white surface and make decisions at intersections. It will use an Arduino microcontroller to process sensor input and control the motors. The first run will record wrong turns to avoid on the second run when it can solve the maze quickly.
Robot chooses a simpler non-branching path leads to reach goal very easily from a path or collection of paths, typically from an entrance to goal is known as " MAZE SOLVER ROBOT ".
Autonomous robots are robots that can perform tasks intelligently depending on themselves, without any human assistance. Maze Solving Robot is one of the most popular autonomous robots. It is a smallself-reliant robot that can solve a maze from a known starting position to the center area of the maze in the shortest possible time.
Obstacle Avoiding Robot
Robotics is a branch of science that deals with Mechanical, Electrical and Software fields. Robots are the machines that are used in our day-to-day to life to reduce men power and work accurately without any distortions. Robots can be classified into two different sections basing upon their skills as Automated and Manual. Obstacle detector is a Automated robot which itself recognizes the obstacle in its path and moves in free direction. Robot detects the obstacle by using two IR Sensors placed in front.
The IR sensors are placed on left and right side of the robot through which continuous Infrared radiation is emitted for detection of obstacles in the path. These IR Sensors are connected to a controlling element AT89c51 µc. When a obstacle is placed in the path of robot IR beam is reflected to the sensor from the obstacle. On detecting obstacle in the path sensor sends 0 volts to µc. This 0 voltage is detected by Microcontroller which avoids the obstacle by taking left or right turn. Similarly if the sensor sends +5v to Microcontroller, the Microcontroller assumes it as clear path and makes the robot to move in straight.
Two motors namely right motor and left motor are connected to Motor driver IC (L293D). L293D is interface with Microcontroller. Microcontroller sends logic 0 & logic 1 as per the programming to driver IC which makes motors to rotate in clockwise and anticlockwise direction. Wheels attached to the motors rotate accordingly with the motor shaft causing in the moment of the robot by wheels. In front portion of the robot a free wheel is attached to move the robot easily in any direction as per the requirement.
A 12Volts DC battery is attached to the circuit. As the microcontroller and sensors requires only 5v, set of resistors and capacitors are used to supply 5v DC to them. Power Management System is not maintained in the circuit as the battery can be removed after the usage of robot. So it does not cause any loss in the power of battery.
This type of robots has multiple applications in various fields. They can be used to know the strength of the opposite army in defense system. They can be used as floor and wall cleaners. They are used in automated GPS vehicles to calculate the moment of the vehicle overhead. These robots are easy to construct and cheaper in cost with long durability.
Robot chooses a simpler non-branching path leads to reach goal very easily from a path or collection of paths, typically from an entrance to goal is known as " MAZE SOLVER ROBOT ".
Autonomous robots are robots that can perform tasks intelligently depending on themselves, without any human assistance. Maze Solving Robot is one of the most popular autonomous robots. It is a smallself-reliant robot that can solve a maze from a known starting position to the center area of the maze in the shortest possible time.
Obstacle Avoiding Robot
Robotics is a branch of science that deals with Mechanical, Electrical and Software fields. Robots are the machines that are used in our day-to-day to life to reduce men power and work accurately without any distortions. Robots can be classified into two different sections basing upon their skills as Automated and Manual. Obstacle detector is a Automated robot which itself recognizes the obstacle in its path and moves in free direction. Robot detects the obstacle by using two IR Sensors placed in front.
The IR sensors are placed on left and right side of the robot through which continuous Infrared radiation is emitted for detection of obstacles in the path. These IR Sensors are connected to a controlling element AT89c51 µc. When a obstacle is placed in the path of robot IR beam is reflected to the sensor from the obstacle. On detecting obstacle in the path sensor sends 0 volts to µc. This 0 voltage is detected by Microcontroller which avoids the obstacle by taking left or right turn. Similarly if the sensor sends +5v to Microcontroller, the Microcontroller assumes it as clear path and makes the robot to move in straight.
Two motors namely right motor and left motor are connected to Motor driver IC (L293D). L293D is interface with Microcontroller. Microcontroller sends logic 0 & logic 1 as per the programming to driver IC which makes motors to rotate in clockwise and anticlockwise direction. Wheels attached to the motors rotate accordingly with the motor shaft causing in the moment of the robot by wheels. In front portion of the robot a free wheel is attached to move the robot easily in any direction as per the requirement.
A 12Volts DC battery is attached to the circuit. As the microcontroller and sensors requires only 5v, set of resistors and capacitors are used to supply 5v DC to them. Power Management System is not maintained in the circuit as the battery can be removed after the usage of robot. So it does not cause any loss in the power of battery.
This type of robots has multiple applications in various fields. They can be used to know the strength of the opposite army in defense system. They can be used as floor and wall cleaners. They are used in automated GPS vehicles to calculate the moment of the vehicle overhead. These robots are easy to construct and cheaper in cost with long durability.
This is a full report of my project in Level 3 Term 1. The project was basically a self-driven vehicle capable of localizing itself in a grid and planning a path between two nodes. It can avoid particular nodes and plan path between two allowed nodes. Flood Fill Algorithm will be used for finding the path between two allowed nodes. The vehicle is also capable of transferring blocks from one node to another. In fact, this vehicle is a prototype of a self-driven vehicle capable of transporting passengers and it can also be used in industries to transfer different items from one place to another.
This is a full report of my project in Level 3 Term 1. The project was basically a self-driven vehicle capable of localizing itself in a grid and planning a path between two nodes. It can avoid particular nodes and plan path between two allowed nodes. Flood Fill Algorithm will be used for finding the path between two allowed nodes. The vehicle is also capable of transferring blocks from one node to another. In fact, this vehicle is a prototype of a self-driven vehicle capable of transporting passengers and it can also be used in industries to transfer different items from one place to another.
Obstacle Avoiding robot is a self thinking robot which can take decisions itself using programmed brain without any guidance from human beings. In our Project we use Infrared to sense obstacles and take movements accordingly. Our Project
mainly used in military application, small toys and also used in mines by increasing IR sensors.
Robotics is a branch of science that deals with Mechanical, Electrical and Software fields. Robots are the machines that are used in our day-to-day to life to reduce men power and work accurately without any distortions. Robots can be classified into two different sections basing upon their skills as Automated and Manual. Obstacle detector is a Automated robot which itself recognizes the obstacle in its path and moves in free direction. Robot detects the obstacle by using two IR Sensors placed in front.
The IR sensors are placed on left and right side of the robot through which continuous Infrared radiation is emitted for detection of obstacles in the path. These IR Sensors are connected to a controlling element AT89c51 µc. When a obstacle is placed in the path of robot IR beam is reflected to the sensor from the obstacle. On detecting obstacle in the path sensor sends 0 volts to µc. This 0 voltage is detected by Microcontroller which avoids the obstacle by taking left or right turn. Similarly if the sensor sends +5v to Microcontroller, the Microcontroller assumes it as clear path and makes the robot to move in straight.
Two motors namely right motor and left motor are connected to Motor driver IC (L293D). L293D is interface with Microcontroller. Microcontroller sends logic 0 & logic 1 as per the programming to driver IC which makes motors to rotate in clockwise and anticlockwise direction. Wheels attached to the motors rotate accordingly with the motor shaft causing in the moment of the robot by wheels. In front portion of the robot a free wheel is attached to move the robot easily in any direction as per the requirement.
A 12Volts DC battery is attached to the circuit. As the microcontroller and sensors requires only 5v, set of resistors and capacitors are used to supply 5v DC to them. Power Management System is not maintained in the circuit as the battery can be removed after the usage of robot. So it does not cause any loss in the power of battery.
This type of robots has multiple applications in various fields. They can be used to know the strength of the opposite army in defense system. They can be used as floor and wall cleaners. They are used in automated GPS vehicles to calculate the moment of the vehicle overhead. These robots are easy to construct and cheaper in cost with long durability.
Line following is one of the most important aspects of Robotics. A Line Follower Robot is an autonomous robot which is able to follow either a black or white line that is drawn on the surface consisting of a contrasting color. It is designed to move automatically and follow the made plot line. The path can be visible like a black line on a white surface or it can be invisible like a magnetic field. It will move in a particular direction Specified by the user and avoids the obstacle which is coming in the path. Autonomous Intelligent Robots are robot that can perform desired tasks in unstructured environments without continuous human guidance. It is an integrated design from the knowledge of Mechanical, Electrical, and Computer Engineering. LDR sensors based line follower robot design and Fabrication procedure which always direct along the black mark on the white surface. The robot uses several sensors to identify the line thus assisting the bot to stay on the track. The robot is driven by DC motors to control the movements of the wheels.
Obstacle Detection robot detects the obstacle to avoid collision using ultrasonic sensor. The motors are connected through motor driver IC to microcontroller , to control the speed PWM is used.
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Read| The latest issue of The Challenger is here! We are thrilled to announce that our school paper has qualified for the NATIONAL SCHOOLS PRESS CONFERENCE (NSPC) 2024. Thank you for your unwavering support and trust. Dive into the stories that made us stand out!
1. Tribhuwan University
Institute Of Engineering
Kathmandu Engineering College
Kalimati, Kathmandu
A proposalA proposalA proposalA proposal on Line Maze Solveron Line Maze Solveron Line Maze Solveron Line Maze Solver
Submitted By: Submitted To:
Arjun Paudel Locus 2011 organizing
Pankaj Shakya committee
Rajeev Thapaliya
Sajeet Thapaliya
Saubhagya Joshi
Sushil Dahal
Submitted on: Wednesday, November 23, 2011
3. 2
ACKNOWLEDGEMENT
We owe a great many thanks to a great many people who helped and supported us
during this project.
Our deepest thanks to Department of Electronics and Computer Engineering, the
department of Kathmandu Engineering College for guiding and correcting various
mistakes of ours with attention and care. The department members have taken pain
to go through the project and make necessary correction as and when needed.
We express our thanks to the Locus 2011 organizing committee of, Institute of
Engineering, for selecting and providing us a platform to show our project entitled
“LINE MAZE SOLVER”.
Our deep sense of gratitude to Toshak Raj Uprety (Project coordinator),
Kathmandu Engineering College for support and guidance. Thanks and
appreciation to the helpful people at Institute of Engineering, for their support.
We would also thank our colleague and lecturers without whom this project would
have been a distant reality. We also extend our heartfelt thanks to our family and
well wishers.
4. 3
TABLE OF CONTENTS
Contents Page No.
Title 1
Acknowledgement 2
Table of Contents 3
List of Figures 4
Abstract 5
Introduction 6
Objective 7
System Block Diagram 8
Methodology 9-11
Circuit Diagram 12-13
Application 14
Components and Cost Estimation 15
Results 16
Reference 17
5. 4
LIST OF FIGURES
Figures: Page No.:
Fig 1: A Line Maze 6
Fig 2: Hardware System Block Diagram 8
Fig 3: Software System Block Diagram 8
Fig 4: The Eight Maze Possibilities 9
Fig 5: Sensor Placement 10
Fig 6: Arduino Duemilanove 12
Fig 7: L14F1 Photo Darlington transistor 13
Fig 8: L293D Motor Driver Circuit 13
6. 5
ABSTRACT
This project will undertake the construction and implementation of a two-wheeled
robot that is capable of solving a maze constructed as a line. The structural,
mechanical, and electronic components of the bot will be assembled in a manner
that will make the bot possible to solve the maze as quickly as possible.
The wheels of the robot are capable of independent rotation in two directions,
driven by a motor IC circuit. Information about tracks, the dead ends and turns
will be obtained from sensors on the device. The line of tracks will be determined
by sending a Infrared signal to the track and photo-transistors will be used to sense
the infrared signals. Information from the sensors will be fed back to the Arduino
Duemilanove 328 having a ATMEGA 328P-PU micro-controller, which will
convert them to digital values using ADC of the micro-controller, compare the
result and generate output to the motor to keep it in track. To take the correct turns
and to avoid dead ends, next time robot is operated, the memory of the micro-
controller will also be used.
7. 6
INTRODUCTION
A line maze is usually a black line on a white background. It could also be a white
line on a black background. Each line maze has a Start point and a Finish point.
There are a number of dead-end paths in the maze.
Fig 1: A Line Maze
A line maze solver is a robot that can solve the maze in fastest time possible. As
the line maze contains many dead ends, the robot typically cannot traverse the
maze without first taking a number of wrong turns.
8. 7
OBJECTIVE
Autonomous robotics is a field with wide-reaching applications. From bombing
robots to autonomous devices for finding humans in wreckage to home
automation, many people are interested in low-power, high speed, reliable
solutions. There are many problems facing such designs: unfamiliar terrain and
inaccurate sensing continues to plague designers. Automatic vehicles and other
instruments always saves human effort and our time and if we build it properly.
The systems will be controlled when we are out of reach if we build automatic
vehicles or any other systems.
Sensing a line, maneuvering the robot to stay on course and solving a maze, while
constantly correcting wrong moves using feedback mechanism forms a simple yet
effective closed loop system and an effective autonomous robotics. As a
programmer we get an opportunity to ‘teach’ the robot how to solve the maze thus
giving it a human-like property of responding to stimuli.
9. 8
SYSTEM BLOCK DIAGRAM
Fig 2: Hardware System Block Diagram
Fig 3: Software System Block Diagram
Light Sensors
Arduino Duemilanove 328
ATMEGA 328P-PU
Motor Control
(L293D)
Right
Motor
Left
Motor
Hardware Abstraction layer
Normalized sensor
Data (format useful
to other modules)
IR sensor with
phototransistor
Sensor Module Micro-controller
Convert Sensor data
to digital value to
guide motor control.
Store the corrected
maze path in
memory for fast
maze solving after
traversing for first
time.
Motor Control
Guide motors
According to
Feedback
Provided by
micro-controller.
10. 9
METHODOLOGY
The wall follower, the best-known rule for traversing mazes, is also known as
either the left-hand rule or the right-hand rule. If the maze is simply connected,
that is, all its walls are connected together or to the maze's outer boundary, then by
keeping one hand in contact with one wall of the maze the player is guaranteed not
to get lost and will reach a different exit if there is one; otherwise, he or she will
return to the entrance.
The wall follower technique that we are going to implement is left-hand
rule. As our maze contains no loop. The robot can encounter only eight different
possibilities of situations:
Fig 4:
11. 10
As Arduino Duemilanove 328 has six analog input pins. We shall be using six
sensors to detect the lines. The sensors arrangement will be:
Fig 5: Sensor Placement
In the above figure we can see that the sensors 3 and 4 remaining inside the track
keeps the robot in forward direction. Sensors 2,3 and 4,5 keeps the robot in track
and sensors 1,,2 and 5,6 helps in turning the robot towards left and right
directions.
As we have six sensors in placement, we can make 26
=64 different combinations
out of this combination with advance warning which helps to solve the maze very
fast.
The robot, most of the time, will be involved in one of the following behaviors:
1. Following the line, looking for the next intersection.
2. At an intersection, deciding what type of intersection it is.
3. At an intersection, making a turn.
These steps continue looping over and over until the robot senses the end of the
maze.
From the above figure of the eight situations, there is only one possible action.
This distinction needs to be made because later some of these will need to be
stored by the robot and some won't.
• In the first two cases of left turn only and right turn only, robot has no choice
but to make a 90 degree turn. As the robot has no other options available,
these turns need not be stored in memory.
• In the case of dead end, robot has no other choice than to make a 180 degree
turn or a U-turn. Since reaching a dead end means robot has made a bad
move, this type of move should be stored in memory to correct it at next
round.
1 2 3 4 65
6.5 cm
12. 11
• In the case of left turn only or, straight or left turn the robot should move a
small inch forward and determine the correct move. Similar is in the case of
right turn only or, straight or, right turn. This type of turn should be stored in
memory.
• In the case of T turn, Four way and end the robot should go a inch forward
and check the path. This type of turn should be stored in memory.
In order to solve the maze, the robot needs to traverse the maze twice. In the first
run, it goes down some number of dead-ends, but records these as “bad” paths so
that they can be avoided on the second run.
15. 14
APPLICATION
• To develop automatic robots
• To use robots in bombing
• To find humans in wreckage and to save them
• To extract radioactive elements from mines
17. 16
RESULTS
The maze solver turns out to meet the specifications set by the sub goals. It is able
to solve a maze of which it has no more information than that the track is in black
and the background is white. In solving the maze using the technique of always
following the left side of the track, it stores the essential information to find the
exit the second time without detour. Hence the maze solver will find the accurate
track and completes the maze of any type.