MODELLING AND AUTONOMOUS CONTROLLING OF A 4WHEEl ROBOT WITH OBSTACLE AVOIDANCE

Osama Shahid#1, Nihal Ahmed Qureshi#2, Fauz Pervez#3 Faculty of Electrical E !i eeri !, 13 Natio al Stadium "d #arachi $%2&',#arachi,Pa(ista Faculty of Electrical E !i eeri !, 13 Natio al Stadium "d #arachi $%2&',#arachi,Pa(ista #3 Faculty of Electrical E !i eeri !, 13 Natio al Stadium "d #arachi $%2&', #arachi, Pa(ista
#2 1 #1

osama)*i shahid+yahoo,com, 2 ihal,a-+!mail,com,3f)./0+yahoo,com

Abstract The selection of project modelling and

autonomous control of 4-wheeled robot with obstacle avoidance is due to our interest in the field of robotics and use of microcontroller is the another reason which direct our attention towards this autonomous robot because of our interest in Arduino board, Arduino can sense the environment by receiving input from a variety of sensors and can affect its surroundings by controlling lights, motors, and other actuators. The aim of the project was to create a car robot that will detect any obstacle from a certain distance and avoids it while moving in different directions and then to reach its final destination as directions given from the GU with the use of !ig"ee. The basic coding is done using the #-language on the microcontroller and #$ for the controlling of the vehicle through a GU . The hardware includes %otors, %otor driver chip, Ultrasonic sensor, !igbee, "attery, &ower supply. The reason behind choosing this project is to help blind people detect obstacles on their ways with the aid of a robot. Thus, we believe that our project will be beneficial for various purposes and hence our efforts will be fruitful.

"o*ots are a moder dema d a d co sideri ! the future of this 2orld the use of ro*ots or auto omous vehicle is i creasi ! day *y day a d i ear future you 2ill have to rely o this tech olo!y *ecause it 2o 5t re-uire a y huma effort to move this vehicle from o e .lace to a other ,1his tech olo!y 2ill *e hel.ful i ma y 2ays a d its *e efits 2ill *e descri*ed *elo2 i this re.ort, 1his re.ort !ives a e4te ded detail of our .ro6ect, Our .ro6ect is a auto omous four 2heeled vehicle 2hich is desi! ed to so it ca follo2 a desired .ath at its 2ill 2ithout collidi ! to a y o*stacle i *et2ee , O*stacle avoider ro*ots are those i telli!e t ro*ots 2hich .erform certai tas(s i u structured e viro me ts *y detecti ! a d overcomi ! o*stacles i their 2ay 2ithout a y huma !uida ce, "o*otic Se sors is o e of the most im.orta t com.o e ts i *uildi ! auto omous ro*ot as they are the o ly mea s for a ro*ot to detect i formatio a*out itself a d its e viro me t, 1here are o2 ma y se sors availa*le i the mar(et for this .ur.ose a d the availa*ility of these se sors ma(e the ro*ots to *e more accurate i ature, 1hese se sors 2hich are availa*le are ca.a*le of measuri ! ma y thi !s from e viro me t these i clude 7dista ce, li!ht, sou d, tem.erature8 forces a d dista ces etc, 1he first se sor that is .laced i to our ro*ot is a dista ce se sor, 2hich is usually i the form of ultraso ic se sor, 3t uses a .ulse 7echo8 2hich is the se t a d its reflectio is timed to !et a se se of a dista ce, A other se sor that is attached is a 9: se sor 2hich cou ts the um*er of revolutio s the tyre of a car ta(es this hel.s us to ( o2 that ho2 much dista ce our car has travelled so far, A other im.orta t .art or you could say the mai .art of ro*ot or the heart of ro*ot lies i the co troller, 1his is the heart of ro*ot; 2e !ive each a d every comma d to the co troller, <1= Our co troller is ma ually .ro!rammed *y us as .er our re-uireme t a d the it ma(es our ro*ot to .erform,

Keywords Autonomous vehicle, 'i-(i, ')A*,

"luetooth, 'ireless +ensor *etwor,s, #ommunication

I.

Introdu t!on

"o*otics is a face of moder era a d the days to come *y, 1he field of ro*otics has tra sformed from various .hases a d is still tra sformi !, everythi ! 2hich .erform certai actio s o its o2 ca *e termed as ro*ot, 3t is a mode of commu icatio as 2ell ot o ly commu icatio 2e ca also e4te d its role to various other fields,

Each a d every thi ! 2hich is co ected to our ro*ot 2hether it is our 3P camera se sor motors "F module each a d every thi ! is all co trolled *y our micro co troller 2hich is A">93NO for our ro*ot, 1his car is differe t to ma y other cars li(e 2hich claim to *e a ti:o*stacle ro*ot is that you ca comma d this car if you 2a t to drive this car ma ually, For you to drive this car ma ually a hard2are 2ill *e co ected to your la.to. 2hich 2ill commu icate 2ith your car this hard2are 2ould *e ?3@AEE 2hich is a "F tra smitterBreceiver, 2e have also co ected a 3P camera for real time video covera!e a d sou d covera!e, 1his 2ill !ive us more from this car so 2e ca use this car for various .ur.oses if 2e 2ould have more mo ey or someo e s.o sori ! us i our .ro6ect 2e could have e4te ded our .ro6ect for various .ur.oses li(e 2e could have added feature to it of a fire fi!hti ! ro*ot, Aut a -uestio arrives 2hat *asically is a microco trollerC A microco troller is you ca say a ty.e of mi icom.uter o a si !le i te!rated circuit co tai i ! a .rocessor memory, a d .ro!ramma*le i .utBout.ut .eri.herals, "ADB"OD is also ofte i cluded o chi., Dicroco trollers are desi! ed for em*edded a..licatio s, i todayEs 2orld they are used i ma y .laces li(e micro2ave ove s, automo*iles etc, <2= Our microco troller 2hich is Ardui o has some follo2i ! featuresF G1he Ardui o 9 o is a microco troller *oard *ased o the A1me!a32H, G3t has 10:di!ital out.utBi .ut .i s G& are a alo! i .uts, Git has a 1& DIz ceramic reso ator, Ga .o2er 6ac(, Ga 9SA co ectio , Ga reset *utto , 3t co tai s everythi ! you eed to su..ort the microco troller; sim.ly co ect ardui o to a com.uter 2ith a 9SA ca*le or .o2er it u. 2ith a AJ:to:>J ada.ter or *attery to ma(e thi !s !et started,<3=

II. L!t"r#tur" R"$!"%

&.' (!)*"" W!r"l"++ S"n+or N"t%or,+
?i!*ee tech olo!y is a *i:directio al 2ireless commu icatio tech olo!y of short dista ce, lo2 com.le4ity, lo2 .o2er co sum.tio , a d lo2 data rate, mai ly used i automatic co trol, 3t mai ly 2or(s o 2,0@Iz 3SD *a d 2ith 2'K2%'(*itBs data rate, 1''mK1,%(m ma4imum tra smissio ra !e, a d a ty.ical 1''m dista ce, 1he tech ical features i cludeF 718 SecurityF ?i!*ee .rovides data relia*ility chec( a d su*sta tiatio , a d uses AES:12H security al!orithm, Each a..licatio has the tracta*ility to determi e its secure .ro.erties, 728 "elia*ilityF 3t uses collisio avoida ce mecha ism, a d at the same times it assets a dedicated time slot to re-uire a secure *a d2idth of the commu icatio service, avoid the com.etitio a d co flicts 2he data is se t, DAJ layer uses a full authorizatio of data tra sfer mecha isms, a d each .ac(et of data se t must 2ait to receive authorizatio , 738 Po2er savi !F As the duty cycle is very short, tra smitti ! a d receivi ! i formatio has lo2er .o2er co sum.tio , a d usi ! the hi*er atio mode, ?i!*ee tech olo!y e sures that t2o N size *atteries ca su..ort from & mo ths to 2 years, Of course, differe t a..licatio s have .o2er differe t .o2er co sum.tio s, 708 Ii!h et2or( ca.acityF A ?i!*ee et2or( ca ma4imum of &%%3& devices, lod!e a

7%8 Short delaysF it has e ha ced commu icatio delays for delay:se sitive a..licatio s, Jommu icatio delay a d slee. 2a(e u. time delay are very short, 1y.ical device search delay is 3'ms, ty.ical slee. 2a(e u. time delay is 1%ms, a d active cha el access delay is 1%ms,<%=

&.& M"t"r!n) S-+t". So/t%#r" D"+!)n

?i!Aee e d device reads e er!y measureme t i formatio i multifu ctio electric meter *y 9A"1, a d tra smits them to the et2or( coordi ator via ?i!*ee 2ireless et2or(, thus it ca realize the 2ireless meter readi ! of the et2or( coordi ator, Dea 2hile, the et2or( coordi ator ca tra sfer cloc(:correcti ! comma d to multifu ctio electric meter throu!h ?i!Aee e d device to cali*rate the system cloc( a d .o2er .arameters, 1herefore, the e d device must *e a*le to commu icate 2ith the multifu ctio electric meter i order to read data a d the coordi ator i order to se d data, 1he coordi ator also has to ( o2 2hich e d ode that se ds the data so the data ca *e read accurately, Each of ?i!Aee

Fi!,1 Ardui o 9NO Aoard

modules has a u i-ue &0:*it .erma e t address, so the 1he tech olo!y has stro ! mar(et com.etitive ess, ?i!Aee addressi ! 2o Et *e much difficult, Fi!, 2 sho2s the .ro!ramm 2ireless meter readi ! system uses short:ra !e 2ireless flo2chart of e d device,<3= commu icatio a d com.uter et2or( tech olo!ies to read a d .rocess meteri ! data automatically, Lireless automatic meter readi ! tech olo!y ca ot o ly save huma resources, *ut also im.rove the accuracy a d i sta ta eity of the meter readi !, 3t e a*les ma a!eme t sector to timely a d accurately access .o2er co sum.tio messa!es, Doreover, o ca*li ! is re-uired 2ith relatively eco omical i vestme t, For the .ro.osed 2ireless automatic meter readi ! system, 2ireless commu icatio li (s ca *e -uic(ly *uilt, e !i eeri ! .eriod si! ifica tly shorte ed, a d it has *etter scala*ility com.ared to a 2ired system, 3f a fault occurs, sim.ly chec(i ! 2ireless data module ca -uic(ly fi d it out a d restore the system i ormal o.eratio , <0=

III.

V"1! l" #nd S-+t".

3 this sectio 2e descri*e the mai characteristics of the ro*otic .latform as their hard2are resources i volved i the .rocesses of .erce.tio , actio a d co trol, As.ects of soft2are are also .rese ted, as the system architecture a d the develo.me t frame2or(s,

A.

H#rd%#r"

3 order to serve as a .latform for research i auto omous vehicles, ac-uired a small electric utility vehicle, 1his vehicle choice 2as determi ed *y a set of factors li(e *ehaviour similar to a .asse !er car i terms of (i ematic a d dy amic as.ects, easi ess to carry out the mecha ical modificatio s to tur it i to a ro*otic .latform, a d !reater fle4i*ility a d security i .erformi ! e4.erime tal tests : !ive the reduced size a d 2ei!ht, Furthermore, 2e ca hi!hli!ht the lo2 e viro me tal im.act due to electric .ro.ulsio , 3 itially mecha ical a d electro ic vehicle cha !es 2ere made to allo2 com.utatio al co trol of the steeri ! 2heel, acceleratio a d *ra(i ! systems, All these cha !es also i te ded to .reserve the ori!i al drivi ! a d ha dli ! vehicle characteristics, Fi!,2, Pro!ram flo2chart of ?i!Aee e d device 1he steeri ! system 7Fi!,38 com.rises four >J motor that co ects 2ith the microco troller throu!h a M2/3N motor driver 3J mecha ism co sisti ! differe tial method of tur i ! vehicle left a d ri!ht directio s,

&.0 W1- (!)*"" !+ u+"d /or W!r"l"++ N"t%or,!n)2

1he successful develo.me t of the 2ireless automatic meter readi ! system descri*ed i this article is *ased o the hi!h: .erforma ce, e4tremely lo2 .o2er co sum.tio , hi!h level of i te!ratio , a d lo2 .rice of ?i!Aee tech olo!y,

hel.s the driver to ( o2 a*out o*stacles are lo2 rates of false .ositive 7avoid u desired 2ar i !s a d situatio 6ud!me t mista(es8, 3 other 2ords, it is ecessary to differe tiate 2hich of detected eleme ts ca really *e da !erous, related to the vehicle estimated tra6ectory, >etectio of hurdle ma(es the ro*ot i telli!e t i a se se that it 2ould ot collide 2ith a ythi ! 7o*stacles8 that comes i its .ath a d it 2ill sto. *efore it reaches that o*stacle, 1he user has a rotata*le camera so 2ith hurdles ca *e detected a d the .erso 2ill *e a*le to vie2 the other a !les as 2ell 2ithout 2orryi ! a*out ro*ots collisio 2ith a ythi ! i fro t,<%=

Fi!,3 Four >J motors used for differe tial method of tur i !

B. Mod"ll!n) #nd S!.ul#t!on

Althou!h im.orta t, the realizatio of .ractical e4.erime ts to validate the al!orithms a d tech i-ues u derdevelo.me t ca *e a da !erous activity if .erformed 2ithout a de!ree of certai ty a d relia*ility co sidered acce.ta*le, 3 this se se, simulatio tools allo2 to co duct .relimi ary tests to evaluate the system res.o se i sce arios very similar to the a..licatio domai , 1he mai com.o e t of the car li(e motors a d se sor 2ith the co troller are tested *y desi! i ! a stimulatio o Proteus as sho2 i Fi!,0 1he .icture sho2s the simulatio of the vehicle co trolli ! actuators a d the se sor 2hich 2ill *e used as a dista ce fi der, 1here are ste. 2ise testi ! of actuators a d se sor,

D. R" "nt R"+"#r 1 E//ort+

3 this research area, researchers are tryi ! to cover the mai as.ects related to auto omous vehicles i ur*a e viro me ts, Our mai o*6ectives i cludeF develo. driver assista ce systems, auto omous co trol a d avi!atio , machi e lear i ! a d visio systems a..roaches a..lied to i telli!e t vehicles, a d co voy co trol a d ma a!eme t, 1he Auto omous Nehicle Jo trol System should .rovide a series of *asic a d adva ced fu ctio alities, Auto omous avi!atio or eve driver assista ce 7A>AS : Adva ced >river Assista ce Systems8 2hile co ducti ! a vehicle i to ur*a e viro me t, re-uires a system 2hich ca reco! ize some eleme ts li(e traffic si! s, .edestria s a d other vehicles, Also, correct localizatio (ee.i ! the vehicle i the road, ma(i ! safely overta(i ! ma oeuvres, as 2ell as res.ecti ! 2hat determi es the traffic la2s <&=,

IV. D!+ u++!on #nd R"+ult

1hese days every system is automated i order to face e2 challe !es i the .rese t day situatio , Automated systems have less ma ual o.eratio s, due to 2hich the su..le ess, co siste cies are hi!h a d accurate, 3 the .rese t develo.me t of 2ar situatio s, u ma ed systems .lays very im.orta t role to mi imize huma losses, So this ro*ot is very useful to do o.eratio s, such as detectio of e emies a d to fi d huma *odies a d so ma y thi !s, 3 this system, a ro*ot is fitted 2ith four motors, Iuma i terface are used to co trol all o.eratio s, 1his is *ased o commu icatio *et2ee huma i terface a d ro*ot a d is do e throu!h ?i!*ee, 3 this .ro6ect 2e use four motors are used to o.erate the ro*ot,

Fi!,0 Simulatio of se sors a d actuators

C. O*+t# l" D"t" t!on #nd Dr!$!n) A++!+t#n "

For *oth auto omous avi!atio a d driver assista ce system, .recise a d ro*ust o*stacle detectio is fu dame tal, !e erati ! alerts a d !uara teei ! a safe avi!atio , Amo ! the desired features for a system that

3 this .ro6ect 2e co trolled the directio of the ro*ot, Ay usi ! i cisive a d o*6ective !uida ce a d timely advice e coura!ed us the 2ireless commu icatio , throu!h the i terface, the ro*ot 2ith co sta t flo2 of e er!y to co ti ue the 2or(, 2ill !et commu icated, A d there*y the i formatio 2ill *e tra sferred throu!h the i terface throu!h the ?i!*ee, Also to Dr, Syed Di ha6 u Na*i 6afri our focal .erso from S9PA"JO 2ho !ives us the idea ho2 2e should carried out our Ay !ivi ! the comma ds 6ust li(e OFor2ardP, PAac(2ardP, .ro6ect accordi ! to the re-uireme ts set *y the S9PA"JO, Oleft2ardP, O"i!ht2ardP the ro*ot 2ill *e received throu!h the ?i!*ee receiver the the ro*ot 2ill moves i that .articular Fi ally, 2e must say that o hei!ht is ever achieved 2ithout some directio , Ie ce, 2e have achieved desired tar!et of our sacrifices made at some e d a d it is here 2here 2e o2e our .ro6ect, s.ecial de*t to all others 2hich hel.ed us i a y 2ay i cludi ! tech ical staff of our u iversity, teachers, la* e !i eers, our fello2 class mates, our families for sho2i ! their !e erous love a d care throu!hout the e tire .eriod of time,

VII. R"/"r"n "+

<1= Fi!%,@93 i terface for directio co trol <2= <3= Dassimo Aa zi,P @etti ! started 2ith Ardui oP,2 d Editio 72'118 Ala @, Smith,P Se.tem*er 3', 2'11 3 troductio to Ardui oP,

V. Con lu+!on
1his has *ee a *rief revie2 of several 2ireless tech olo!y usa!es that mi!ht *e used to co trol mo*ile ro*ots, 3t is im.orta t to com.are this tech olo!y a d the *a d2idth, fre-ue cy, data rate to tra sfer data amo ! the devices for *etter develo.me t for mo*ile ro*ot co troller, 1he .ro6ect is a auto omous four 2heeled vehicle 2hich is desi! ed so it ca follo2 a desired .ath 2ithout collidi ! to a y o*stacle i *et2ee , 3tEs a moder dema d a d co sideri ! the future of this 2orld the use of ro*ots or auto omous vehicle is i creasi ! day *y day a d i ear future you 2ill have to rely o this tech olo!y *ecause it 2o 5t re-uire a y huma effort to move this vehicle from o e .lace to a other,

htt.FBBiclu*charusat,files,2ord.ress,comB2'12B'$Bhome: automatio ,.df7accessed o 2/:'$:138 S, 1hru , O1o2ard ro*otic carsP, Jommu icatio ofAJD, %3708, .., //:1'&, 2'1', @ross, I,:D,, Aoehme, I,:Q,, a d Lilhelm 1, OJo tri*utio to visio *ased localizatio , trac(i ! a d avi!atio methods for a i teractive mo*ile service:ro*ot,P 3 the Proceedi !s of the 3EEE 3 ter atio al Jo fere ce o Systems, Da , a d Jy*er etics, .., &$2R&$$, 2''1 Qeo !hye Ia , Qaeyeo Mee, a d Sou !6o Jho, OEvolutio ary role model a d *asic emotio s of service ro*ots ori!i ated from com.uters,P 3 the Proceedi !s of the 3EEE 3 ter atio al Lor(sho. o "o*ot a d Iuma 3 teractive Jommu icatio 7"ODAN8, .., 3':3%, 2''%

<0=

<%=

<&=

VI. A ,no%l"d)."nt+
Le are tha (ful to the follo2i ! i stitutio s a d or!a izatio s a d the res.ected .erso s 2hich hel.ed us i ma(i ! this .ro6ect a success, First 2e 2ould li(e to tha ( the Iead of de.artme t of Electrical E !i eeri !, Aahria 9 iversity 7#arachi Jam.us8 for .rovidi ! us a stro ! academic atmos.here *y e forci ! strict disci.li e to do the .ro6ect 2or( 2ith utmost co ce tratio a d dedicatio , 3tEs a .leasure to ac( o2led!e our .ro6ect su.ervisor Dr, Du(esh #umar u der 2hom 2e have carried out the .ro6ect 2or(, Iis