INTELLIGENT MASTER SLAVE ROBOT

NIK HAKIMI B NIK ABD HALIM

This Report Is Submitted In Partial Fulfillment Of Requirements For The Degree

of Bachelor In Mechatronic Engineering

FACULTY OF ELECTRICAL ENGINEERING

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

APRIL 2009

“I hereby declared that I have read through this report and found that it has comply the

partial fulfillment for awarding the degree of Bachelor of Mechatronic Engineering”

Signature : ……………………………….

Supervisor’s Name : EN MOHD SHAHRIEEL BIN MOHD ARAS

Date : 27 April 2009

“I hereby declared that this report is a result of my own work except for the

excepts that have been cited clearly in the references.”

Signature : ………………………………

Name : NIK HAKIMI B NIK ABD HALIM

Date : 27 April 2009

Specially dedicated to my dearest mom, Che Azma Binti Che Ishak and dad,

Nik Abd Halim Bin Nik Yussof, my sister Nik Farhanim , my brother Nik Hafizzi and all my fellow friends,

who have encouraged, guided and inspired me throughout my journey of education.

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ACKNOWLEGMENT

First and foremost, I would like to thanks ALLAH s.w.t. because of HIM I’m

here standing and able to complete my project. I also take this opportunity to express my

deepest gratitude towards my project supervisor, En Mohd Shahrieel Bin Aras who has

persistently and determinedly assisted me this project. It would have been very arduous

to complete this project without the passionate supports and guidance encouragement

and advices given by him. My outmost thanks also go to my family who has given me

support throughout my academic years. Without them, I might not be able to become

who I am today. I am grateful to have love affection and care from all of my family

members as well. My fellow friends should also be recognized for their continual

support and encouragement. My sincere appreciation also extends to my entire course

mate and others who have provided assistance at various occasions. Their views and tips

are useful indeed Last but not least, thanks to individuals that has contributed either

directly or indirectly to make this thesis project. Without all these people helps,

encouragement, support, advices, this thesis project might not be successfully carried

out. Of course, as is usual, all errors and oversights are entirely my own. Thanks you

once again.

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ABSTRACT

The development of mobile robots has become popular among inventor

nowadays. In many applications multi robot systems are desirable for much reason. In

the case of planetary explorers, deploying more robots will enable coverage of large area

in a shorter time. Like ants and other insects, many cheap robots working together could

replace a single expensive robot, making a multi robot system more cost effective. Multi

robot systems can accomplish task that no single robot can accomplish, since ultimately

a single robot, no matter how capable, is spatially limited. In this project, i-MS will be

developed with two unit mobile robots as multi agent robot system that can perform

team movement in interacted with the environments. Multi agent mobile robots as

master-slave is able to move automatically on flat surfaces which it has ability of

obstacle avoidance where it will try to avoid collision for object that come in its way.

The robots will be controlled by PIC16F877A microcontroller. As for the software part,

there are two main of software development tools being used in building the multi agent

robot intelligence. There are the MPLAB Integrated Development Environment (IDE)

and PICC LITE. Two units of RC Servo Motor (C36R) are used as actuator for each

robot. KC Wirefree Bluetooth Module KC21 is used as communication method among

the robots which will allow master-slave behaviors. One of the robots will act as master

whiles another one as slave. The slave will follow the movement of master. The robots

have interchanging masterslave function based on environment.

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ABSTRAK

Semenjak akhir-akhir ini, penciptaan mobile robot menjadi semakin popular di

kalangan pencipta robot. Dalam banyak aplikasi, multi robot sistem sangat diperlukan

untuk beberapa perkara yang tertentu. Dalam kes penjelajahan planet, dengan

meletakkan beberapa robot akan membolehkan kawasan yang luas di litupi dalam masa

yang singkat. Seperti semut dan juga serangga yang lain, dengan meletakkan beberapa

robot murah yang boleh bekerjasama antara satu lain bagi menggantikan robot yang

mahal, ini menghasilkan sistem multi robot yang effektif. Multi robot boleh melakukan

kerja yang tidak boleh dilakukan oleh single robot kerana walaupun single robot

berkeupayaan tinggi tetapi rekabentuknya adalah terhad. I-MS, boleh dibangunkan

dengan dua robot dimana agen multi robot boleh melakukan pergerakan mengikut

persekitaran secara berkumpulan. Multi agent robot yang bertindak sebagai master boleh

bergerak secara automatic di atas permukaan rata dan berkeupayaan untuk mengesan

halangan di mana ia akan cuba untuk mengelak daripada berlakunya kemalangan. Robot

ini dikawal dengan menggunakan PIC 16F877A mikropengawal. Pada bahagian

software, terdapat 2 bahagian utama dalam membagunkan multi robot yang pintar ini.

Software yang digunakan adalah MPLAB Integrated Development Environment (IDE)

dan PICC LITE, dua unit RC Servo Motor (C36R) digunakan sebagai actuator untuk

setiap robot. KC Wirefree Bluetooth Module KC21 digunakan sebagai peranti

perhubungan di antara robot di mana ia akan mengikut perlakuan master-slave. Satu

robot akan bertindak sebagai master dan satu robot akan bertindak sebagai slave. Robot

slave akan mengikuti pergerakan robot master. Fungsi master-slave bagi robot akan

bertukar bergantung kepada persekitaran.

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TABLE OF CONTENTS

Chapter Description Pages

ACKNOWLEDGEMENTS I

ABSTRACT II

TABLE OF CONTENT IV

LIST OF FIGURE VII

LIST OF TABLE X

1.0 INTRODUCTION 1

1.1 Objectives 1

1.2 Scope Of Work 2

1.3 Problem Statement 3

1.4 Research Methodology 4

2.0 LITERATURE REVIEW 6

2.1 Research Project 6

2.1.1 i-Mars 6

2.1.2 Insect Behavior Robot 8

2.1.3 EDUBOT 9

3.0 ROBOT DESIGN 10

3.0 Introduction Robot Design 10

3.1 I-MS Robot Mechanical Structure 12

3.1.1 Robot Frame Material 13

3.1.2 Wheel 14

3.1.3 Actuator 15

3.1.4 Bluetooth Module 16

3.1.5 Infrared 19

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3.1.6 Battery 21

3.2 Software and Circuitry System 22

3.2.1 Circuitry System 22

3.2.2 Microchip PIC16F877A Microcontroller 24

3.2.3 PIC Startup Kit - SK40A 26

3.2.4 Bluetooth Communication Circuit 29

3.2.5 Power Supply Unit Circuit 29

3.2.6 Motor Driver Circuit 30

3.2.7 Infra-Red Sensor Circuit 31

3.3 Software Development 33

3.1.1 Programming for the robot 33

4.0 PROJECT DEVELOPMENT

4.0 Introduction 39

4.1 Mechanical Part 39

4.1.1 Robot Frame 39

4.1.2 Wheel 40

4.1.3 Jointing Wheel & The Base 40

4.1.4 Screw & Nut 41

4.1.5 Complete Base Of Mechanical Structure 42

4.2 Electrical Part 42

4.2.1 Sensors 42

4.2.2 Batteries 44

4.2.3 Polystyrene 45

4.2.4 Strip Board 45

4.2.5 Complete Of The Electrical Part 46

4.3 Wiring 47

5.0 RESULT AND DISCUSSION

5.0 Introduction 48

5.1 The Movement Of The Robot 48

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5.2 Robot Abilities 50

5.3 Project Evaluation 50

5.4 Summary 52

6.0 CONCLUSION AND FUTURE SUGGESTION 53

Reference 54

APPENDIX A 55

APPENDIX B 57

APPENDIX C 66

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LIST OF FIGURE

No Title Pages 1.1 Scope Of Project 3 1.2 Diagram illustrate the methodology 5

2.1 Three Robots Systems 7

2.2 Two Robots Systems 7

2.3 I-MARS Three-Layered Reactive 8

2.4 Insect Behavior 9

2.5 EDUBOT 9

3.1 Ideas Of The Design 10

3.2 Isometric View of i – MS Robot 12

3.3 Top View 12

3.4 Side View 12

3.5 Front View 12

3.6 Acrylic Base 13

3.7 Wheel 14

3.8 RC Servo Motor 15

3.9 RC Servo Motor Component 15

3.10 KC Wirefree Bluetooth Module KC 21 17

3.11 Infrared Emitter And Receiver 19

3.12 IR Signal Transceiver 20

3.13 Reflected IR Sensor 21

3.14 Type of Battery That Using for Robot Power Source 21

3.15 Type of Battery That Using for Motor Driver Circuit 22

3.16 Overview of Electrical System Block Diagram 23

3.17 PIC16F877A 24

3.18 Pin Diagram for PIC16F877A Microcontroller 25

3.19 PIC Startup Kit - SK40B 26

3.20 Schematic Diagram for Microcontroller with Boot Loader 28

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3.21 Bluetooth Module Circuit Board 29

3.22 Schematic Circuit for Power Supply Circuit 30

3.23 Schematic Diagram for Driver Motor 31

3.24 Infra-red Sensor Circuit 32

3.25 Infra-red pair sensors setup 32

3.26 Flow of the programming process 34

3.27 Make a new project in MPLAB 34

3.28 Select the language tool suite 35

3.29 Set the language tool location 36

3.30 Setting the build option for the project 36

3.31 MPLAB programming 37

3.32 Flow chat for i-ms multi agent mobile robot 38

4.1 Base Robot 39

4.2 Top layer of the robot 40

4.3 Wheel 40

4.4 Special press nut 41

4.5 Combination wheel, servo motor and base 41

4.6 Screw 2.7 inch 41

4.7 Castor wheel 41

4.8 Complete mechanical structure 42

4.9 Castor wheel height adjusted 42

4.10 Sensors 43

4.11 Voltage regulator 43

4.12 Sensor are placed 43

4.13 Target board battery 44

4.14 Motor Driver Battery 44

4.15 Polystyrene 45

4.16 Microcontroller Is soldered 45

4.17 Soldered Bluetooth 46

4.18 Soldered motor driver base 46

4.19 Complete Electrical Part 46

4.20 Schematic Circuit 47

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4.21 Complete Of i-MS multi agent mobile robot 47

5.1 Movement of the Multi Agent Mobile Robot 49

5.2 i-MS multi agent mobile robot 51

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LIST OF TABLE

No Title Pages 3.1 Specifications for RC Servo Motor (C36R) 16

3.2 PIC16F877A Device Features 25

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APPENDIX A SCHEMATIC CIRCUIT OF ROBOT AND PSM PROJECT GANTT CHART

57

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APPENDIX B PIC16F877A DATA SHEET

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60

61

62

63

64

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