- 1. . Project overview Project Goals Function Requirement
Non-function Requirement Block diagram Content of hardware Content
of android phone Working of project Advantages Applications Future
scope Conclusion References
2. The project is designed to develop a obstacle detection and
avoidance system for self-driving car using Smartphone. The robotic
vehicle is loaded with servos , IR sensor , IOIO board and webcam.
At the transmitting end using android application device, commands
are sent to the receiver to control the movement 3. When the
robotic vehicle faces an obstacle then it automatically stops
moving in that direction with the help of IR sensor. Remote
operation is achieved by any smart-phone/Tablet etc., with Android
OS, upon a GUI (Graphical User Interface) based touch screen
operation. The android application device transmitter acts as a
remote control that has the advantage of adequate range 4. Priority
1 Motor control using smartphone Priority 2 Obstacle detection
using IR sensor Priority 3 Autonomous drive of vehicle based on IR
data 5. Priority 5 Priority 4 Integrating webcam for real time
video display on smartphone Exploring the possibilities of
developed model in various applications 6. FR1 Transmit all data
between RC car and Android Phone up to a range of 100m using Wi-Fi.
FR2 . Use IR sensor to detect obstacles within 2 meters to 5 meter
distance from the RC car. FR3 Ability of webcam to display movement
of RC car on screen of Smartphone. 7. NFR1 RC car can weight not
more than 15lbs NFR2 The RC car shall run on servo motors NFR3 The
user control system must use Android 8. sensorwebcam WEBC AM Webcam
servos 9. we planned to design a mobile robot that would be rugged
enough for the outdoors, yet still have the capability to maneuver
in tight areas. We concluded that the focus of the project was not
to build the platform, but to interface smartphone with the
driverless car to allow mediated control of the mobile platform .
This conclusion led to our decision to buy a remote control (RC)
truck. 10. The truck must be able to withstand years of use in a
rugged environment as well as the ability to easily modify
components, add sensors , and mount IOIO board , webcam and so on.
The power source for the vehicle must be wireless allowing through
wi-fi from smartphone and the source must be reusable to be cost
effective. The transmitter and receiver would preferably be able to
control additional components beyond the necessary drive . 11. The
IOIO is a board that provides a host machine the capability of
interfacing with external hardware over a variety of commonly used
protocols. The original IOIO board has been specifically designed
to work with Android devices. The IOIO board can be connected to
its host over USB or Bluetooth, and provides a high-level Java API
on the host side for using its I/O functions as if they were an
integral part of the client. 12. In order to control a R/C vehicle
from an Android phone, we used the IOIO board to link the phone to
the motor and servo of the vehicle. The IOIO can send PWM signals
to the speed controller of the vehicle in order to regulate its
motors and servomotors. The IOIO can also read values from digital
and analog sensors, such as infrared sensors (IR). The IOIO
provides connectivity to an Android device via a Bluetooth or WI-FI
connection and is fully controllable from within an Android
application using a simple Java API. 13. The newer IOIO-OTG can
also be connected via USB as a host or an accessory to an Android
device or a computer. When connected to an Android device, the
IOIO-OTG can act as a USB host and supply charging current to the
device. If connected to a computer, the IOIO acts as a virtual
serial port and can be powered by the host 14. Compared to the
other boards with similar functionality (e.g., Arduino ADK,
Amarino, Microbridge, PropBridge), we chose the IOIO because it
provides a high-level Java API for controlling the boards functions
without having to write embedded-C code for the board. It supports
all Android OS versions, whereas other boards only support the most
recent Android OS. The IOIO is inexpensive ($30) with a small
footprint (~ 8cm by 3cm), is fully open-source, and has great
technical support. 15. The main function of the IOIO is to interact
with peripheral devices. It can do so with 48 I/O pins, and digital
inputs/outputs, PWM, analog inputs, I2C, SPI, TWI, and UART
interfaces. The IOIO board contains a single MCU that acts as a USB
host and interprets commands from an Android app. The IOIO supports
3.3V and 5V inputs and outputs. 16. It has two on-board voltage
regulators. It contains a switching regulator that can take 5V-15V
input and output up to 3A of stable 5V, and a linear regulator that
feeds off the 5V line and outputs up to 500mA of stable 3.3V. 17.
In short, IOIO is like an extended I/O pins for your Android phone
and you are not required to do any sort of embedded programming.
Honestly, this board is very advantage for those who have knowledge
in Java + Eclipse + Android. But , this tutorial will guide us to
setup the software and only go over writing a simple Java app using
the IOIO library. 18. There are two major types of Sharp's infrared
(IR) sensors based on their output: analog rangers and digital
detectors. Analog ranges provide information about the distance to
an object in the ranger's view. Digital detectors provide a digital
(high or low) indication of an object at or closer than a
predefined distance 19. These rangers all use triangulation and a
small linear CCD array to compute the distance and/or presence of
objects in the field of view. In order to triangulare, a pulse of
IR light is emitted by the emitter. The light travels out into the
field of view and either hits an object or just keeps on going. In
the case of no object, the light is never reflected, and the
reading shows no object. If the light reflects off an object, it
returns to the detector and creates a triangle between the point of
reflection, the emitter and the detector. 20. Servos are commonly
electrical or partially electronic in nature, using an electric
motor as the primary means of creating mechanical force. A common
type of servo provides position control 21. A servomotor is a
specific type of motor and rotary encoder combination that forms a
servomechanism. This assembly may in turn form part of another
servomechanism. The encoder provides position and usually speed
feedback, which by the use of a PID controller allow more precise
control of position and thus faster achievement of a stable
position (for a given motor power). 22. Samsung Galaxy Player 5"
screen 1 GHz Hummingbird Processor Android 2.3 Wi-Fi 802.11 n
Multi-touch $210 23. Android is an open-source operating system
which means that any manufacturer can use it in their phones free
of charge. It was built to be truly open. For example, an
application can call upon any of the phones core functionality such
as making calls, sending text messages, or using the camera. 24.
Android is built on the open Linux Kernel. Furthermore, it utilizes
a custom virtual machine that was designed to optimize memory and
hardware resources in a mobile environment. 25. The Android
platform includes support for the WI-FI network stack, which allows
a device to wirelessly exchange data with other Bluetooth devices.
Such as IOIO. The application framework provides access to the WI-
FI functionality through the Android PHONE. 26. A high-level Java
API is provided with the IOIO that provides simple functions to
connect to the IOIO from an Android application. The application
can read values from digital or analog inputs, and write values to
the IOIO outputs. Currently, analog input pins of the IOIO are
sampled at 1KHz. Since the IOIO software is fully open source, a
developer can perform low level embedded programming in order to
modify the firmware for example- Communication between the phone
and the IOIO can be made over WI-FI. 27. Speed of vehicle start
stop up down left right IR Sensor 28. To start the RC car we use
start & stop button as a input. IOIO board is used to interface
smartphone with RC car The connectivity between the smartphone
& IOIO board is estabished by using Wi-Fi having range (100m)
In order to cotrol RC vehicle from an android phone , we used IOIO
board to link the phone to the servos which are loaded on vehicle.
29. IOIO can send PWM signal to start & control the servomotor.
Ones the servomotor start, we control the car by using the four
buttons i.e right ,left , forward & backward. The RC car has 4
IR sensor for right , left ,forward , backward detection of
obstacle. The range of IR sensor to detect the obstacle is from 1m
to 5m. A pulse of IR light is emmited by the emitter ,the light
travel out into the field of view & either hits on object or
just keeps on going. 30. In case of no object , the light is never
reflect back. If the light reflects on the object & it return
to the detector , then o/p send to the IOIO. IOIO read values from
that sensor & send signal back to Smartphone through Wi-Fi. If
suppose obstacle detect in right then the first button glow red
light indicating that obstacle is found in right & at this
condition if we want to move RC car in right direction , it cannot
move. 31. In exception case we also use a encoder in IOIO to
indicate the speed of vehicle in our smartphone. The movement or
video of car is display on smartphone by using webcam which is
connected in RC car. Thats the aim of this project to detect the
obstacle by wireless connectivity to avoid many accidents. 32.
Obstacle can be detected having any shape or size Accident will be
avoided as obstacle is previously detected by car It reduces human
afforts As we use webcam in this project we are able know weather
object is moving or static 33. As it avoid accident it can be used
by human being. It can be used in education and research. 34. The
single system also be implemented to detect detches ,pedistrian
,length detection along with obstacle by using more no. of sensors
and algorithm/ programming 35. In conclusion the obstacle are
detected using IR sensors The navigation control is done through
the Smartphone via wi-fi The cammand given to the car for avoidance
of the accidents and the death caused by those accidents can be
reduced. 36. IOIO Board, website-www.sparkfun.com/tutorial/280
IOIOBoard, website-www.github.com/ytai / ioio /wiki sensor,
website-www.mdpi.com/journal/sensor
android,Developer.android.com/about index.html 37. THANK YOU
