avoiding obstacles mobile robot using arduino Uno

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this is an overview about how

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UNIVERSITY OF ZIANE ACHOUR - DJELFA Faculty of Science and Technology Technical Sciences Department Field of study: Automatic Thesis prepared and presented by: NOUARI Mostafa Theme :  Realization and Control of a Mobile Robot Using Arduino Uno Board JUNE 2016 1 Supervisor: Dr. CHERROUN Lakhmissi

- To develop and design an autonomous mobile robot controlled by an Arduino Uno board. Its main task is to avoid the surrounding obstacles located in the environment. The robot control is based on the information measured by ultrasonic sensor, and using a logical algorithm uploaded in the Arduino microcontroller.:

- To develop and design an autonomous mobile robot controlled by an Arduino Uno board. Its main task is to avoid the surrounding obstacles located in the environment. The robot control is based on the information measured by ultrasonic sensor , and using a logical algorithm uploaded in the Arduino microcontroller. 2 The Objective

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Presentation Plan An overview about Mobile Robots Introducing Arduino Uno hardware and software parts Simulation and Realization of a Mobile Robot 3

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Mobile Robots What is the mobile robot? A mobile robot is an automatic machine that is capable to do a group of tasks in a defined environment. 4

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Mobile Robots The three actions of mobile robots: Sense – to take an information about its environment Think – to use that information to make a decision Act –needs moving parts to carry out commands ACT THINK SENSE 5

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Mobile Robots The Different types of Mobile Robots: Domestic Robots Medical Robots Military Robots Nano Robots Space Robots Industrial Robots 6

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Mobile Robots BigDog robot for military uses NASA Space Robot Industrial Robot Domestic Robot 7

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Mobile Robots Sensors : Sensors are a devices which gather informations from the Robot environment using different technologies. 8

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Mobile Robots Different types of Sensors: External status sensors: Tactile Sensors Infrared (IR) Sensors Ultrasonic Sensors GPS Sensors Pyroelectric Sensors Visual Sensors 9

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Different types of Sensors: Internal status sensors: They are all the sensors which gather informations from the robot itself (Motor Speed, Orientation Degree, Battery level .. Etc ) Mobile Robots 10

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Mobile Robots Mobile robots applications : Inspection and maintenance Cleaning Security & Defense Logistic System Metallic Coating Agriculture: Urban transport Entertainment 11

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12 ARDUINO UNO BOARD

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ARDUINO UNO BOARD What is Arduino board? Arduino is an open source platform for electronics projects with microcontroller. Made for students, hobbyists, programmers, professionals . - Arduino software uses a simplified version of C++ programming language. 13

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ARDUINO UNO BOARD More details : It is divided into two parts: Arduino Board Hardware Software 14

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ARDUINO UNO BOARD Hardware: 15

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ARDUINO UNO BOARD There are about 17 known type introduced by the Italian company Arduino Nano Arduino LilyPad Arduino Duemilanove (2009) Arduino Mega Arduino Uno Arduino Leonardo Arduino Diecimila Arduino Genuine 101 Etc…. Different types of Arduino : 16

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Different types of Arduino : ARDUINO UNO BOARD Arduino Nano 2.x Arduino Diecimila LilyPad Arduino Arduino Genuine 101 Arduino Duemilanove Arduino Mega 17

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Software (IDE Environment): ARDUINO UNO BOARD - It is a platform to write the algorithms that will be uploaded into the Arduino board A program written with the IDE is called a " sketch ". The Arduino IDE supports the C and C++ programming languages using special rules of code organization 18

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ARDUINO UNO BOARD Software (IDE Environment): 19

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Proteus Simulation software: ARDUINO UNO BOARD More Options Adding Electronics components Starting the simulation 20

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21 Simulation and Realization of the Mobile Robot

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Simulation and Realization of the Mobile Robot Simulation part : Using Proteus software , we will simulate the next circuits: LED light controlling Controlling a DC Motor Servo Motor Controlling Ultrasonic sensor 22

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Simulation and Realization of the Mobile Robot Test 1. LED light controlling: Pin 1 LED Connected to Pin 1 23

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Simulation and Realization of the Mobile Robot Realization 24 Test 1 . LED light controlling:

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Simulation and Realization of the Mobile Robot Test 2. Controlling a DC Motor: DC motor Connected to Pin A0 Pin A0 25

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Simulation and Realization of the Mobile Robot Realization 26 Test 2. Controlling a DC Motor:

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Simulation and Realization of the Mobile Robot Servo motor Signal pin Connected to Pin 5 and others to power supply 27 Test 3. Controlling a Servomotor:

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Simulation and Realization of the Mobile Robot Realization 28 Test 3. Controlling a Servomotor:

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Simulation and Realization of the Mobile Robot Test 4. Ultrasonic sensor : Ultrasonic principal 29

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Ultrasonic sensor trigger pin connected to pin 3 and echo pin to pin 2 and the others to the power supply Simulation and Realization of the Mobile Robot 30 Test 4. Ultrasonic sensor :

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Simulation and Realization of the Mobile Robot By changing the resistance Value each time the distance that detected by the sensor will be simulated as below: 31 Test 4. Ultrasonic sensor :

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Simulation and Realization of the Mobile Robot Realization 32 Test 4. Ultrasonic sensor :

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Simulation and Realization of the Mobile Robot Hardware Discussion :(Platform) Robot Platform 33

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Simulation and Realization of the Mobile Robot Hardware Discussion :(L293D shield) L293D Motor Drive shield Motor 1 Motor 2 Motor 3 Motor 4 Servo Motors Power supply 9 V 34

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Simulation and Realization of the Mobile Robot Hardware Discussion :(DC motor and wheels) Rear wheel Front wheel DC Motor 35

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Simulation and Realization of the Mobile Robot Hardware Discussion :(Motors testing): 36

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Simulation and Realization of the Mobile Robot Our Robot Design : Battery 9 V Battery 9 V Arduino Uno L293D Motor Drive shield Servo Motor HC-SR04 Ultrasonic Sensor Two DC Motors 37

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Simulation and Realization of the Mobile Robot Hardware Discussion : (Robot Circuit) Robot Motors Step Motor 9V Battery Ultrasonic Sensor 38

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Simulation and Realization of the Mobile Robot Final Structure of the Robot : 39

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Simulation and Realization of the Mobile Robot Final Structure of the Robot : 40

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Simulation and Realization of the Mobile Robot Avoiding obstacles a lgorithm Start Move forward Obstacle exsisted Initialize Variables Stop and check Right distance = x Left distance = y Compare distance Turn around Turn left Turn right Move forward return Move forward 41

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Simulation and Realization of the Mobile Robot Software Discussion : (Robot Goal) 42

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Simulation and Realization of the Mobile Robot Final Results (Robot tests): 43

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Conclusion 44 - We realized an autonomous Mobile Robot for obstacle avoidance. We used : An Arduino Uno board due to its simplicity . An Ultrasonic sensor to detect obstacles. 2 motorized wheels and caster wheel,… The obtained robot is able to navigate autonomously in the real environment. The results are satisfactory and acceptable.

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Perspectives 45 We propose to : develop this Robot by adding others types of sensors. Control using a Wireless technique. Control to realize other tasks ( line following, avoiding dynamic obstacles….etc )

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Thank You for Your Attention 46

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