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Measuring RPM via Photo reflector
Computer
Interface
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Simple Line Following Robot By: James Cronmiller Abstract: Creating autonomous mobile robots is the first step towards the creation of AI robots such as the ones from science fiction. Robots, like animals, require continuous input to correctly and dynamically understand what they are doing and what they should do next. One way to simplify this is to define a task based on a simple environmental stimulus, in our case a black line surrounded by white paper. The primary goal is to create sensors and logic hardware to control a robot to follow a black line and stop on a field of black. Introduction: The purpose of this project was to apply principles of robotics to a real-world application. When developing a mobile robot, it becomes apparent just how complex it is to navigate freely and dynamically in space. With each new environment, or task comes the need for new sensors or manipulators, the human body which is the ultimate mobile robot has and incredible number of sensors. To simplify this problem the designer can limit the robot to a predefined environment, such as our white paper with a black line. For some tasks this may be perfectly fine, such as a child’s toy robot, or perhaps a coal bucket in a mining facility, or the famous automatic lawn mower, except that uses a wire instead of a black line. By developing the sensors, hardware and software from scratch, the project enabled us to get a deeper understanding of what is required in the design of a mobile robot. The mechanical parts of the robot are taken from a RC car, which has DC motor driven steering and rear wheel drive. The logic was performed using a PIC micro-controller, and motor control was performed with power BJT’s. All the wiring was done using wire wrap. What the logic works down to is that if the left sensor sees black, the car turns left; and if the right sensor sees black, it turns right. The system can be compared to a monorail, except the rail is a black line. Methodology and Design: The design process began with the control system. This consisted of steering and drive control circuits, which were controlled by the PIC16F873. An H-bridge circuit was designed to enable the steering (see attached circuit diagram). Software was written to the PIC to control first the motor then the steering.
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