The document describes the development of an autonomous micro robot for swarm robotics. The objective is to build a small robot that can be controlled by a master robot or take simple self-decisions using swarm intelligence. It discusses the hardware components including an LPC2148 microcontroller, IR sensors, motors, LCD and a Zigbee module for wireless communication. The robot's behavior is based on swarm intelligence principles with autonomous and decentralized control.

1. MAHAVEERINSTITUTEOFSCIENCE&TECHNOLOGY
DEVELOPMENT OF AN AUTONOMOUS MICRO ROBOT FOR
SWARM ROBOTICS
Presented by
K.Harshit reddy 13E31A0427
M.Raju 13E31A0436
M.Maheswara reddy 13E31A0437
M.Rajender 13E31A0438
MD.Ankoos 13E31A0439
M.Shwetha 13E31A0441

2. Objective
The objective of our project is to build a small robot whose
behavior can be traced from swarm intelligence.
The robot is either controlled by a master control robot or can
be able to take its own simple self-decisions automatically.
This robot is also interfaced with a zigbee module that
connects it to its master control unit, and can perform actions
according to the command issued by master control unit.

3. CONTENTS
Introduction
Swarm Robotics Block Diagram
Hardware Components
Categories In Swarm
Advantages
Applications
Output

4. INTRODUCTION
The project is designed to build a small robot whose behavior can
be traced from swarm intelligence.
Swarm Robotics is an approach to the coordination of multi
robot systems which consist of group of micro robots.
These micro robots communicate with each other to perform a
specific task.
The robot is either controlled by a master control robot or can be
able to take its own simple self-decisions automatically.

5. LPC 2148
IR
SENSORS
ZIGBEE
LCD
L293D
(DRIVER
IC)
MOTOR 2
MOTOR 1
Swarm Robotics Block Diagram

6. Block diagram description
A microcontroller which is interfaced with an array of IR
sensors, these IR sensors are fixed on the robot in such a way that
they can sense any object present near its surroundings.
The output of IR sensors is fed to the microcontroller that is
programmed to take self decisions over changing the direction of
the robot movement.
The position control of the robot is achieved by DC motors and
their drivers.
This robot is also interfaced with a zigbee module that connects
it to its master control unit, and can perform actions according to

7. Behavior of Swarm robotics

8. HARDWARE COMPONENTS
LPC2148 Micro Controller
Zigbee
IR Sensors
L293D IC
Motors
LCD

9. Power Supply
Transformer
Transformers convert AC electricity from one voltage to another
with little loss of power.
Transformers work only with AC and this is one of the reasons
why mains electricity is AC.
Bridge rectifier
A bridge rectifier can be made using four individual diodes, but
it is also available in special packages containing the four diodes
required.
It is called a full-wave rectifier because it uses the entire AC
wave (both positive and negative sections).

10. Capacitor
A capacitor is a two terminal passive electronic component
consisting of a pair of conductors separated by a dielectric.
The capacitor blocks DC current and allows AC current .
Regulator
Voltage regulator ICs are available with fixed (typically 5, 12
and 15V) or variable output voltages.

11. LPC2148 Micro Controller Pin Diagram

12. Features of LPC2148
It has 2 ports ,each port consist of 32 pins total 64 pins.
LPC2148 is the widely used IC from ARM-7 family.
The ARM7 is a general purpose 32-bit microcontroller, which
offers high performance and very low power consumption.
It is manufactured by Philips.
LPC2148 is a LQFP64 package.It is a RISC processor.
Ram 32kb,Rom 512kb.

13. Zigbee Technology
ZigBee is a wireless technology.
It is a two way communication.
Transmission Range is from 10 to 100m.
Data rate is 250kbps.
it is a low cost and consumes less power.

14. IR Sensors
Need Of IR Sensor
Because it has a good range which fulfills our requirements.
It is very low cost and can be constructed on general purpose PCB.
It is of very small size.
Good immunity to ambient light and waves are invisible to eyes.

15. Working Of IR Sensor
 The working principle is totally based on change in resistance
of IR receiver, which is similar to reflection of light.
 Here in this sensor we connect IR receiver in reverse bias so
it gives a very high resistance if it is not exposed to IR light.

16. L293D IC
It is a 16 pin configuration.
L293D is a motor driver integrated circuit (IC).
Motor drivers act as current amplifiers since they take a low-current
control signal and provide a higher-current signal.
 This higher current signal is used to drive the motors.

17. Motors
An Electric DC motor is a machine which converts electric
energy into mechanical energy.
The working of DC motor is based on the principle that when a
current-carrying conductor is placed in a magnetic field, it
experiences a mechanical force.

18. Liquid Crystal Display (LCD)
LCD is a type of display used in digital watches and many
portable computers.
Here we use a 14 pin single row LCD of the size 16X2 (16X2
means 16 characters in the Colum and 2 rows for display)

19. Communication In Swarm Robots
 For working in a swarm, the master and slave has to communicate
with each other.
 For this we use transmitter and receiver.
 The type of transmitter and receiver depends upon the range of
communication.
 In the communication process, microcontroller plays a key role.

20. Categories In Swarm
Master Robot
This controls all the other robots
in swarm.
There will be only one master.
They are intended to guide the
slaves.
They take decision from their own
under critical conditions.
Slave Robot
This will be controlled by the
master robots.
There are so many slaves present
in a swarm application.
They are intended to do certain
task given by the master.
They can’t take own decisions by
their own.

21. ADVANTAGES
Man power not required.
Low cost.
Easy to use.
Can be used to do the tasks which are hazardous for humans
Time consumption is less.

22. APPLICATIONS
Robot applications.
Military applications.
Security applications.
Exploring an unknown planet.

23. Project Output