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Grid Solving Robot
SUBMITED BY
Mr. Akshay S. Khadke
Contents
Introduction
Environment used for robot navigation
Hardware development
Block diagram of over all system
Algorithm used
Future work
Conclusion
References
INTRODUCTION
Transportation of raw materials and
finished products is typical in an industry.
Here we use IR sensors for sensing the
line.
The obstacle and object is placed on the
junction.
ENVIRONMENTS USED FOR
ROBOT NAVIGATION
Type of Grid
Grid Mapping
Coordinate System
of Grid
ENVIRONMENTS USED FOR
ROBOT NAVIGATION Obstacle
Object
HARDWARE DEVELOPMENT
Chassis
DC motors
Rubber-wheels
Line sensor
Aluminium sheet
Servo-motors
Microcontroller
Block diagram of the total
electronic system
Arrangement of the sensors
for line-tracking and crossing-
detection
Line following & Cross-counting
mechanism
Circuit Diagram for DC-motor
control using L-298
Servo motor Control
Line sensor Interfacing
Servo-motor
Line sensor
ALGORITHM USED
Dijkistra’s Algorithm
For a given source vertex (node) in
the graph, the algorithm finds the path
with lowest cost (i.e. the shortest path)
between that vertex and every other
vertex.
Calculating Direction
Flow Charts
FUTURE WORK
This robot is run by an 8 bit
microcontroller with limited processing
power. In future, FPGA will be used for
robust processing and control. A*
search
will be implemented for robust grid-
solving.
CONCLUSIONS
Grid Solving Robot is an autonomous
mobile robot capable of localizing itself in a
2D world and planning its path towards
destination by means of Dijkstra's Algorithm
implemented in ATmega16 microcontroller.
A large scale prototype customized for
factories will be very promising. These
Algorithm will be useful in the field of robot
navigation system .
REFERENCES
Lalit Gehlod, Vaibhav Jain, Mala Dutta, Devesh
Kumar Lal. A Grid Based Robot Navigation by
Using Priority Algorithm. IJARCCE Magazine,
Vol. 2, Issue 8, August 2013.
Ahmedullah Aziz, Md. Shafayat Hossain ,
Mohammad Wahidur Rahman. Programming
And Construction Of Ahemaddula-A Fast Grid-
Solving Robot. IJITCA ,Vol.3, No.1, January
2013.
Toshendra K. Sharma, Robotics with AVR, RSI
publication, second edition 2011.
Atmel. (2010, Oct. 20). “ATMEGA 16
datasheet.” [On-line]. Pp. 1-356.
Thank U !
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