Autonomous Mobile Robot Navigation System

Abstract

This project presents a metal detecting robot using RF communication with wireless audio and video transmission and it is designed and implemented with Atmel 89C51 MCU in embedded system domain. The robot is moved in particular direction using switches and the images are captured along with the audio and images are watched on the television .Experimental work has been carried out carefully. The result shows that higher efficiency is indeed achieved using the embedded system. The proposed method is verified to be highly beneficial for the security purpose and industrial purpose. The mine sensor worked at a constant speed without any problem despite its extension, meeting the specification required for the mine detection sensor. It contributed to the improvement of detection rate, while enhancing the operability as evidenced by completion of all the detection work as scheduled. The tests demonstrated that the robot would not pose any performance problem for installation of the mine detection sensor. On the other hand, however, the tests also clearly indicated areas where improvement, modification, specification change and additional features to the robot are required to serve better for the intended purpose. Valuable data and hints were obtained in connection with such issues as control method with the mine detection robot tilted, merits and drawbacks of mounting the sensor, cost, handling the cable between the robot and support vehicle, maintainability, serviceability and easiness of adjustments. These issues became identified as a result of our engineers conducting both the domestic tests and the overseas tests by themselves, and in this respect the findings were all the more practical.

Full text

ISSN (ONLINE) : 2395-695X
ISSN (PRINT) : 2395-695X
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International Journal of Advanced Research in Biology, Ecology, Science and Technology (IJARBEST)
Vol. 1, Issue 4, July 2015
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All Rights Reserved © 2015 IJARBEST
Autonomous Mobile Robot Navigation System
B.Prem Kumar1, M.Sai Suman2, D.Paul Samuel3, V.Pillai Vishal Vadivel4, Praghash.K.5, Christo Ananth6
U.G.Scholars, Department of ECE, Francis Xavier Engineering College, Tirunelveli1,2,3,4
P.G. Scholar, M.E. Communication Systems, Francis Xavier Engineering College, Tirunelveli5
Associate Professor, Department of ECE, Francis Xavier Engineering College, Tirunelveli 6
Abstract— This project presents a metal
detecting robot using RF communication with wireless
audio and video transmission and it is designed and
implemented with Atmel 89C51 MCU in embedded
system domain. The robot is moved in particular
direction using switches and the images are captured
along with the audio and images are watched on the
television .Experimental work has been carried out
carefully. The result shows that higher efficiency is indeed
achieved using the embedded system. The proposed
method is verified to be highly beneficial for the security
purpose and industrial purpose.
The mine sensor worked at a constant speed
without any problem despite its extension, meeting the
specification required for the mine detection sensor. It
contributed to the improvement of detection rate, while
enhancing the operability as evidenced by completion of
all the detection work as scheduled. The tests
demonstrated that the robot would not pose any
performance problem for installation of the mine
detection sensor. On the other hand, however, the tests
also clearly indicated areas where improvement,
modification, specification change and additional features
to the robot are required to serve better for the intended
purpose. Valuable data and hints were obtained in
connection with such issues as control method with the
mine detection robot tilted, merits and drawbacks of
mounting the sensor, cost, handling the cable between the
robot and support vehicle, maintainability, serviceability
and easiness of adjustments. These issues became
identified as a result of our engineers conducting both the
domestic tests and the overseas tests by themselves, and in
this respect the findings were all the more practical.
Index Terms—RF Communication, Navigation System,
Detection sensor
I. INTRODUCTION
This paper proposes a novel
methodology
for autonomous
mobile robot navigation utilizing the concept of tracking
control. Vision-based path
planning and
subsequent tracking
are performed by utilizing proposed stable adaptive state
feedback fuzzy tracking controllers designed using the
Lyapunov theory and
particle-swarm-optimization
(PSO)-based
hybrid approaches. The objective is to design
two self-adaptive fuzzy controllers, for
x
-direction
and
y
-direction
movements, optimizing both its structures and free
parameters, such that the designed controllers can guarantee
desired stability and, simultaneously, can provide satisfactory
tracking performance for the vision-based navigation of
mobile robot. The design methodology for the controllers
simultaneously utilizes the global search capability of PSO
and Lyapunov- theory-based local search method, thus
providing a high degree of automation. Two different variants
of hybrid approaches have been employed in this work. The
proposed schemes have been implemented in both simulation
and experimentations with a real robot, and the results
demonstrate the usefulness of the proposed concept.
Every circuit need a source to give an energy to that circuit.
The ource will a particular voltage and load current ratings.
The following is a circuit digram of a power supply. We need
a constant low voltage regulated power supply of +5V,
providing input voltages to the microcontroller RS232,
LM311 and LCD display which requires 5 volts supply.
The transformer works on the principle of faradays law of
electromagnetic inductions. Transformer in its simplest form.
The core is built up of thin laminations insulated from each
other in order to reduce eddy current loss in the more. The
winding are unguarded from each other and also from the
care. The winding connected to the load is called the
secondary winding for samplings they are shown on the
opposite side of core but in practice they are distributed owner
broth sides of the cores. The high voltage winding encloses
the low voltage.
Let us say that transformer has N1 turns in its primary
winding and N2 turns in its secondary winding. The primary
winding is connected to a sinusoidal voltage of magnitude V1
at a frequency FH2. A working flux is set up in magnetic core.
The working flux is alternating and sinusoidal as the applied
voltage is alternating and sinusoidal. When these flux link the
primary and the secondary winding emf are induced in them.
The emf induced in this is called the self-induced emf and that
induced in the secondary is the mutually induced emf. These
voltages will have sinusoidal waveform and the same
frequency as that of the applied voltage. The currents, which
flow in the close primary and secondary circuits, are
respectively I1 and I2.
Radio frequency is a frequency or rate of oscillation
within the range of about 3Hz to 300 GHz. This range
corresponds to frequency of alternating current electrical
signals used to produce and detect radio waves.Since most of
this range is beyond the vibration rate the most mechanical
systems can respond to, RF usually refers to oscillations in
electrical circuits. RF is widely used because it does not
require any line of sight, less distortions and no interference.
Examples include, Cordless and cellular telephone, radio and
television broadcast stations, satellite communications

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Vol. 1, Issue 4, July 2015
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systems, and two-way radio services all operate
in the RF spectrum. The portable small-sized camera has the
ball-point pen appearance, photographing a particular
location in secret is possible without exposure to others. The
camera circuit part is connected to a wireless transmission
device for outputting a signal by a cable. A wireless receiving
device at a remote location from the wireless transmission
device receives a signal of the wireless transmission device
for outputting or recording.
II. PROPOSED SYSTEM
In the transmitter section (remote), we have the following
components:
Four switches
RF encoder (HT640L)
RF transmitter (STT-433MHz)
There are four switches for the movement of the robot in
various directions like forward, backward, left and right.
These four switches are connected to the RF encoder . The RF
encoder is then connected to RF transmitter, which is thereby
connected to the antenna for the transmission of the radio
waves.
Depending on the switch that is been pressed (left, right,
forward, and backward), the digital data from the switches is
transferred to the RF encoder, which encodes this digital data
into RF signals and transmits to the RF transmitter. This
transmitter transmits the RF waves to the receiver (robot)
through the antenna.
The receiver section consists of the following components:
RF receiver (STR-433MHz)
RF decoder (HT648L)
Microcontroller (AT89C51)
H-Bridge
Geared motors of 60RPM
Metal detecting circuit
Wireless camera
In this receiver section, the RF receiver is connected to the
RF decoder. This decoder is connected to the microcontroller,
which is, in turn, connected to the H-Bridge. This H-Bridge is
connected to the geared motors of the robot. Metal detecting
circuit is also other separate sub-section on the receiver part.
The wireless camera is placed separately on the receiver
section to view the surroundings.
When the radio waves are transmitted from the transmitter
(remote) to the receiver (robot), these waves are received by
the RF receiver through the receiver antenna. From the RF
receiver the signals are sent to RF decoder, which decodes
these signals into digital data. This digital data is sent to the
microcontroller, which, depending on the code written in it,
enables either the upper H-Bridge or lower H-Bridge. This
H-Bridge correspondingly activates the specified geared
motors (Geared Motors-I or Geared motors-II). Power set
–reset button is used for activating the receiver section. Metal
detecting circuit is other sub-section on the receiver part.
As the robot moves in any specified direction and if a metal is
been placed on the path of the robot., the inducting coil
present at the lower side of the receiver section, which acts as
a metal detecting coil, will detect the metal and activates the
buzzer sound on the receiver section. The metal detection
processes goes on by induction of eddy currents in the metal
due to the variation in the magnetic fields of the two
components-coils and metal.
The wireless camera is placed to view the images
surrounding the robot to locate the position of the metal being
detected. The images can be viewed on a television at the user
location. When the robot moves the camera also moves as per
the adjustment of the camera on the receiver section. This
provides the view of the location of the robot. Whenever the
metal is detected, which we can be aware by the sound of the
buzzer on the receiver section.
III. SYSTEM DESIGN
PIC microcontrollers Includes:

EEPROM.
Timers.
Analogue comparators.

UART.
In fact the 8 pin (DIL) version of the 12F675 has an amazing
number of internal peripherals. These are:
Two timers.
One 10bit ADC with 4 selectable inputs.
An internal oscillator (or you can use an external
crystal).
An analogue comparator.
1024 words of program memory.
64 Bytes of RAM.
128 Bytes of EEPROM memory.
External interrupt (as well as interrupts from internal
peripherals).
External crystal can go up to 20MHz.
ICSP : PIC standard programming interface.
In the mid-range devices the memory space ranges from
1k to 8k (18F parts have more) - this does not sound like a lot
but the processor has an efficient instruction set and you can
make useful projects even with 1k e.g. LM35 temperature
sensing project that reports data to the serial port easily fits
within 1k.
In fact a PIC microcontroller is an amazingly
powerful fully featured processor with internal RAM,
EEROM FLASH memory and peripherals. One of the
smallest ones occupies the space of a 555 timer but has a 10bit
ADC, 1k of memory, 2 timers, high current I/O ports a
comparator a watch dog timer.
One of the most useful features of a PIC microcontroller is
that youcan re-program them as they use flash memory (if you
choose a part with an F in the part number e.g. 12F675 not
12C509). You can also use the ICSP serial interface built into
each PIC Microcontroller for programming and even do
programming while it's still plugged into the circuit.You can
12

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either program a PIC microcontroller using
assembler or a high level language and I recommend using a
high level language such as C as it is much easier to use (after
an initial learning curve). Once you have learned the high
level language you are not forced to use the same processor
e.g. you could go to an AVR or Dallas microcontroller and
still use the same high level language.
With the larger devices it's possible to drive
LCDs or seven segment displays with very few control lines
as all the work is done inside the PIC Micro.
Comparing a frequency counter to discrete web designs you'll
find two or three chips for the microcontroller design and ten
or more for a discrete design. So using them saves prototype
design effort as you can use built in peripherals to take care of
lots of the circuit operation. Many now have a built in ADC so
you can read analogue signal levels so you don't need to add
an external devices e.g. you can read an LM35 temperature
sensor directly with no interface logic.
The PIC microcontroller has many built in
peripherals and this can make using them quite daunting at
first which is why I have made this introductory page with a
summary of each major peripheral block. The best way to start
is to learn about the main features of a chip and then begin to
use each peripheral in a project. I think learning by doing is
the best way.
Devices used in projects on this site can be
re-programmed up to 100,000 times (probably more) as they
use Flash memory - these have the letter F in the part
name. You can get cheaper (OTP) devices but these are
One-Time-Programmable; once programmed you can't
program it again.
LCDs with a small number of segments, such as those used
in digital watches and pocket calculators, have individual
electrical contacts for each segment. An external dedicated
circuit supplies an electric charge to control each segment.
This display structure is unwieldy for more than a few display
elements.Small monochrome displays such as those found in
personal organizers, or older laptop screens have a
passive-matrix structure employing super-twisted pneumatic
(STN) or double-layer STN (DSTN) technology—the latter
of which addresses a color-shifting problem with the
former—and color-STN (CSTN)—wherein color is added by
using an internal filter. Each row or column of the display has
a single electrical circuit. The pixels are addressed one at a
time by row and column addresses. This type of display is
called passive-matrix addressed because the pixel must retain
its state between refreshes without the benefit of a steady
electrical charge. As the number of pixels (and,
correspondingly, columns and rows) increases, this type of
display becomes less feasible. Very slow response times and
poor contrast are typical of passive-matrix addressed LCDs.
High-resolution color displays such as modern LCD computer
monitors and televisions use an active matrix structure. A
matrix of thin-film transistors (TFTs) is added to the
polarizing and color filters. Each pixel has its own dedicated
transistor, allowing each column line to access one pixel.
When a row line is activated, all of the column lines are
connected to a row of pixels and the correct voltage is driven
onto all of the column lines.
Fig.1. Interfacing LCD with the Microcontroller
The LCD we have used in this project is HD1234. This is
an alphanumeric type of LCD with 16 pins. Of which Pins 7 to
14 are used as data pins, through which an 8-bit data can be
input to the LCD. These Pins are connected to the Port 0 of
Micro controller. There are 3 control pins RS (Pin-4), RW
(Pin-5) and EN (Pin-6). The RS pin is connected to the 28th
Pin of micro controller. The RW pin is usually grounded. The
Enable pin is connected to 27th Pin. The LCD has two Rows
and 16 Columns. The LCD is powered up with 5V supply
connected to Pins 1(Gnd) and 2(Vcc). The Pin 3 is connected
to Vcc through a Potentiometer. The potentiometer is used to
adjust the contrast level.
The LM124 series consists of four independent, high
gain, internally frequency compensated operational
amplifiers which were designed specifically to operate from a
single power supply over a wide range of voltages. Operation
from split power supplies is also possible and the low power
supply current drain is independent of the magnitude of the
power supply voltage. Application areas include transducer
amplifiers, DC gain blocks and all the conventional op amp
circuits which now can be more easily implemented in single
power supply systems. For example, the LM124 series can be
directly operated off of the standard +5V power supply
voltage which is used in digital systems and will easily
provide the required interface electronics without requiring
the additional ±15V power supplies.
It is often necessary to be able to detect a certain
voltage and switch a circuit according to the voltage that has
been detected. For example a temperature sensing circuit will
produce a given voltage and it may be necessary to switch
heating on when the temperature falls below a given point.
For these and many other uses, a circuit known as a
comparator can be used.As the name comparator implies
these circuits are used to compare two voltages. When one is
higher than the other the comparator circuit output is in one
state, and when the input conditions are reversed, then the
comparator output switches to the other state. Here we use

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LM324 as comparator. This consists of 4
op-amps inbuilt on to it. We can connect sensors with
inverting inputs and potentio meters connected on the
Non-inverting inputs. The output pins are interfaced to the
Micro controller. The LM124 series are op amps which
operate with only a single power supply voltage, have
true-differential inputs, and remain in the linear mode with an
input common-mode voltage of 0 VDC. These amplifiers
operate over a wide range of power supply voltage with little
change in performance characteristics. At 25°C amplifier
operation is possible down to a minimum supply voltage of
2.3 VDC.
The pinouts of the package have been designed to
simplify PC board layouts. Inverting inputs are adjacent to
outputs for all of the amplifiers and the outputs have also been
placed at the corners of the package (pins 1, 7, 8, and 14).
Precautions should be taken to insure that the power supply
for the integrated circuit never becomes reversed in polarity
or that the unit is not inadvertently installed backwards in a
test socket as an unlimited current surge through the resulting
forward diode within the IC could cause fusing of the internal
conductors and result in a destroyed unit.
Large differential input voltages can be easily
accommodated and, as input differential voltage protection
diodes are not needed, no large input currents result from
large differential input voltages. The differential input voltage
may be larger than V+ without damaging the device.
Protection should be provided to prevent the input voltages
from going negative more than −0.3 VDC (at 25°C). An input
clamp diode with a resistor to the IC input terminal can be
used.
IV. RESULTS AND DISCUSSION
When AC is applied to the primary winding of the
power transformer it can either be stepped down or up
depending on the value of DC needed. In our circuit the
transformer of 230v/15-0-15v is used to perform the step
down operation where a 230V AC appears as 15V AC across
the secondary winding. In the power supply unit, rectification
is normally achieved using a solid-state diode. Diode has the
property that will let the electron flow easily in one direction
at proper biasing condition. As AC is applied to the diode,
electrons only flow when the anode and cathode is negative.
Reversing the polarity of voltage will not permit electron
flow.A commonly used circuit for supplying large amounts of
DC power is the bridge rectifier. A bridge rectifier of four
diodes (4*IN4007) is used to achieve full wave rectification.
Two diodes will conduct during the negative cycle and the
other two will conduct during the positive half cycle.
The DC voltage appearing across the output
terminals of the bridge rectifier will be somewhat less than
90% of the applied RMS value. Filter circuits, which is
usually capacitor acting as a surge arrester always follow the
rectifier unit. This capacitor is also called as a decoupling
capacitor or a bypassing capacitor, is used not only to ‘short’
the ripple with frequency of 120Hz to ground but also to leave
the frequency of the DC to appear at the output. The voltage
regulators play an important role in any power supply unit.
The primary purpose of a regulator is to aid the rectifier and
filter circuit in providing a constant DC voltage to the device.
Power supplies without regulators have an inherent problem
of changing DC voltage values due to variations in the load or
due to fluctuations in the AC liner voltage. With a regulator
connected to the DC output, the voltage can be maintained
within a close tolerant region of the desired output. IC7812
and 7805 are used in this project for providing +12v and +5v
DC
supply.
Fig.2.MATLAB IDE
Functionality
Fig.3. Project Simulation
V. CONCLUSION
This project presents a metal detecting robot using
RF communication with wireless audio and video
transmission and it is designed and implemented with Atmel
89C51 MCU in embedded system domain. The robot is
moved in particular direction using switches and the images
are captured along with the audio and images are watched on
the television .Experimental work has been carried out
carefully. The result shows that higher efficiency is indeed
achieved using the embedded system. The proposed method

ISSN (ONLINE) : 2395-695X
ISSN (PRINT) : 2395-695X
Available online at www.ijarbest.com
International Journal of Advanced Research in Biology, Ecology, Science and Technology (IJARBEST)
Vol. 1, Issue 4, July 2015
19
All Rights Reserved © 2015 IJARBEST
is verified to be highly beneficial for the security
purpose and industrial purpose.
The mine sensor worked at a constant speed without
any problem despite its extension, meeting the specification
required for the mine detection sensor. It contributed to the
improvement of detection rate, while enhancing the
operability as evidenced by completion of all the detection
work as scheduled. The tests demonstrated that the robot
would not pose any performance problem for installation of
the mine detection sensor. On the other hand, however, the
tests also clearly indicated areas where improvement,
modification, specification change and additional features to
the robot are required to serve better for the intended purpose.
Valuable data and hints were obtained in connection with
such issues as control method with the mine detection robot
tilted, merits and drawbacks of mounting the sensor, cost,
handling the cable between the robot and support vehicle,
maintainability, serviceability and easiness of adjustments.
These issues became identified as a result of our engineers
conducting both the domestic tests and the overseas tests by
themselves, and in this respect the findings were all the more
practical.
REFERENCES
[1]Raj Kamal, “Embedded Systems”, Pearson Education Publications,
2007.
[2]Mazzidi, “8051 Microcontroller and Embedded Systems”, Prentice Hall
Publications, 2nd Edition, 2005 .
[3]Edwin S.Grosvenor and Morgan Wesson,”Alexander Graham Bell: The
Life and Times of the Man Who Invented the Telephone “, New York,
Abrams, 1997.