PREPARED BY KAZI MOSIUR RAHMAN PRASENJIT SAHA AYAN BANERJEE ARITRA DAS Under the Guidance of SUPRIYO SENGUPTA

& SHAMIK RUDRA

Department of Electronics and Communication Engineering ST. THOMAS COLLEGE OF ENGINEERING & TECHNOLOGY 4 D H ROAD, Kidder pore, Kolkata 700023

Objective
1. 2. 3. 4.

An autonomous controlled system is also known as robotic or a driverless car. An autonomous vehicle has the capability of sensing the environment and navigating on its own. A human may choose a desired destination, without doing any mechanical operation. An autonomous vehicles typically update their memory maps based on information.

Block Diagram

 Processing Module: Processes the image obtained from camera to detect the

path.
Communication Module: Communicates with the processing module in order

to get information required for the path tracking.

Car Module: Its main purpose to steer the vehicle left-right, forward-backward

by activating respective DC motors.

Power Supply Module: It supplies the power required for all modules to

function properly. From DC motor of 18v to micro-controller 5v.

Processing Module
Representation of an Image in MATLAB
1.

An image in MATLAB is stored as a 2D matrix (of size mxn) where each element of the matrix represents the intensity of light. either 0 or 1 and for a grayscale image each value lies between 0 and 255. A color image is stored as an mxnx3 matrix where each element is the RGB value of that particular pixel (hence its a 3D matrix).

2. For a binary image, the value of each element of the matrix is

3.

Basic Of Image Processing

Binary Image: An image that consists of only black and white pixels.

Grayscale Image: It contains intensity values ranging from a minimum (depicting absolute

black) to a maximum (depicting absolute white) and in between varying shades of gray. Typically, this range is between 0 and 255

Color Image: We all have seen this! Such an image is composed of the three primary colors,

Red, Green and Blue, hence also called an RGB image.

Algorithm

The image is scan using the commend imread() and stores it in a 3-D matrix . The no of rows and columns and the no of color channels in the variables LENGTH, WIDTH, aa using the function size(). Then it assigns a new 2-D matrix of the size of LENGTH WIDTH with zeros.

INPUT IMAGE

This command is used 3 times to work on the red ,green and blue data separately in order to clear the image using the function medfilt2() function

A color threshold window is provided to the

program, the code checks all the pixels of the image whether it lies within the color threshold window or not.

We erode the image in order to remove the small continuities that might connect two major regions.

The final image is display on screen and thus we separate the road from the entire image.

Communication Module
Choice of Micro-controller
Efficiencient in task performance Availability of Software Development Kits Complexity of the Configuration Characteristics of Controller Availability of the Micro-controller

Based on these criterions, we choose the Atmel AT89S52.

Features
Atmel AT89S52 micro-controller chip, based on the 8051 micro-controller architecture. It has got high processing speed and comparable low cost. The micro-controller communicates with the laptop through UART ( Universal Asynchronous Receiver or Transmitter 8K Bytes of In-System Programmable (ISP) Flash Memory. 256 x 8-bit Internal RAM. 32 Programmable I/O Lines. Three 16-bit Timer/Counters.

UART PROTOCOL
UART is Universal Asynchronous Receiver or Transmitter. It is the protocol with programming that controls a computer's interface to its attached serial devices. It provides the computer with the RS-232C Data Terminal Equipment(DTE)

The Bit-format of UART Protocol

Interfacing Between PC Module and AT89S52

The microcontroller AT89S52 has an inbuilt UART for carrying out serial communication. A serial port, like other PC ports, is a physical interface to establish data transfer between computer and an external hardware or device. This transfer, through serial port, takes place bit by bit.
In RS232, high and low bits are represented by flowing voltage ranges

Bit 0 1

Voltage Range ( Volt) +3 +25 -25 -3

Hyper Terminal
Hyper Terminal is a Windows XP application, which can be used to receive or transmit serial data through RS232.
The baud rate is fixed to 9600bps by loading TH1 to 0xFD. In a program, Timer1 is used with auto reload setting. The value 0x50 is loaded in the SCON register. This will initialize the serial port in Mode1 of serial communication

Car Module
Basic Operation:

At first an H- Bridge Circuit has been created using L293D Driver IC.
The H-bridge arrangement is generally used to reverse the polarity of the motor. It can also be used to 'break' the motor, where the motor comes to a sudden stop. The motor's terminals are shorted, or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the circuit.
.

Simplified Diagram of H-Bridge

Car Movement
S1 1 0 0 0 0 S2 0 1 0 0 1 S3 0 1 0 0 0 S4 1 0 0 0 1 Result Motor moves right Motor moves left

Motor free runs

Motor free runs Motor brakes

1
1 0 1

0
1 0 1

1
0 1 1

0
0 1 1

Motor brakes
Shoot-through Shoot-through Shoot-through

Motor Driver IC L293D

L293D is a dual H-Bridge motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide

a higher-current signal.
This higher current signal is used to drive the motors. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise

and anticlockwise directions, respectively

POWER SUPPLY
We have made a power supply of our own using adjustable voltage regular (LM 317) in order to obtain standard rating of voltage and current for microcontroller and DC motors.

We can also use 9V batteries in series combination with a capacity of 550mAh . Similarly, we can also use pencil batteries connected in series.

FUTURE SCOPE
With the availability of ARM processor (1 GHz and higher) we will be

able to make the entire setup mobile .

A 3D mapping sensor along with a camera will further enhance and

improve the driving and sensing capability of the vehicle.

At present we have planned to use a small scale wheeled robot. Real

time implementation will be possible with the presence of a 4 wheeler car. are planning to improve the fuel efficiency by controlling the valve timings with the help of a microcontroller.

If we are successful at the real time implementation of this project, we