LINE FOLLOWING USING MAZE SIMULATOR

CONTENTS

Objective Background Classification Development And Integration Software Hardware And Mechanical Model Application Conclusion Future Recommendations

OBJECTIVE

To create an autonomous vehicle, which able to move along the given path, extracted using the maze simulator.

BACKGROUND

What is Autonomous? “A machine which is able to perform its task, without

continuous interference of human being”. (ref. ‘Wikipedia’)

What is Maze Simulator?

“A tool that used to build an environment with various type of walls, by editing image file and extract the path from the maze in image(ref. ‘social.msdn’)

CLASSIFICATION

AUTONOMOUS VEHICLE

DRIVE TECHNOLOGY

Electric Hydraulic Point-to-Point

Continuous

MOTION CONTROL

APPLICATION DOMAIN APPLICATION AREAS

Industrial Non Industrial

DEVELOPMENT AND INTEGRATION

DEVELOPMENT AND INTEGRATION

SOFTWARE INTERFACING

MECHANICAL

COMPUTING

SOFTWARE

SOFTWARE (ALGORITHM)

Starting Point

Ending Point

Obstacle

Path

SOFTWARE (ALGORITHM) (CONT…)

All the Nail of adjacent nodes pointing towards its parent node.

SOFTWARE (ALGORITHM) (CONT…)

Parent

Value of F

Value of G

Value of H

Point to its Parent

SOFTWARE (ALGORITHM) (CONT…)

Checking For Path One by One

SOFTWARE (ALGORITHM) (CONT…)

Selecting New Parent

Which Square Will be Selected?(Both have sameCost (F))Path 1: (F)40 + 60 = 100 Path 2: (F)54

SOFTWARE (ALGORITHM) (CONT…)

SOFTWARE (ALGORITHM) (CONT…)

Path

PROGRAM SIMULATIONLoading ImageDraw ObstacleRemove ObstacleStart PointEnd Point

Export Results

RUN

ARCHITECHTURE AND INTERFACING

Based on the working requirements and output of machine it comprises following units: MotorsMotor driverMechanical model Controller Board

DC GEARED MOTORS

Motors are the muscles of machine. Two types of motors can act as muscles of machineDC motorsDC Geared motorsWhy DC Geared Motors?We need extra precision and accuracy in designWe need to stop the movement with exact point on path

MOTOR DRIVER CIRCUITRY (L298)

In order to drive DC motors, motor driver circuitry drives the motors

Driver circuitry needs at inputa) Clock (PWM)b)Direction (Logic)c) Enable

ADVANTAGES OF DC GEARED OVER SIMPLE DC

A DC geared motor provides accuracy It respond excellent to starting and

stopping of wheels Feed back mechanism using Encoders It has higher torque with low rpm,

which is needed

MOTOR DRIVER CIRCUITRY

Driver circuitry gives at output, phase sequences which can be half step, full step one phase or full step two phase sequence

Why L298?

Only need to play with two (direction and clock) pins of l298

It can handle both full step and half step modes

With l298 dual bridge, motors up to 2A winding current can be used

L298 BLOCK DIAGRAM

DRIVER

If y(i+1)>y(i-1) M1= ONM2= OFF

Moves up in Y

If y(i+1)<y(i-1) M1= OFFM2= ON

Moves down in Y

If x(i+1)>x(i-1) M1= OFFM2= ON

Moves forward in X

If x(i+1)<x(i-1) M1= ONM2= OFF

Moves reverse in X

Else Both Motors M1 & M2 will remain ON, and vehicle will move forward.

MECHANICAL

Mechanical Portion:Our mechanical portion consist of four wheel trolley, rear wheel are being driven with help of DC motors while the front wheels will just support the rear wheel and will move according to the RPM of rear wheels.

MECHANICAL

Advantages

No use of Sensors

Rotation of Robot depends on Rpm of rear wheels

Coordinates are known to Robot before its start to move

MECHANICAL

Disadvantages:

Overweight

Rotation is not precise sometimes

FUTURE ENHANCEMENTS

Distance Sensing

Position Logging & Tracking

Continue its path with obstacle avoidance

CONCLUSION/OUTCOME

The Robot follows the line as directed

It Effectively overcome the problems such as Line Break

The hardware and software work as designed

RECOMMENDATIONS

Alternate better software.

Camera Interfacing Using DSP

Sensors For Tracking Accurate

Trimming the real time image

VIDEO OF HARDWARE