Intelligent Navigation Robotic vehicle

This project will be using a PIC18F4550 microcontroller board.A Sharp Proximity Sensor will be used to scan for the presence of an obstacle within a specified area of vision. A Photo-Reflective Optical sensor will be used for sensing marked points along the vehicle’s path. A single 7-segment LED and a buzzer will also be used that will provide visual and audible feedback of system progress.1.




a. The stepper motors and its driver circuit
b. 3 proximity sensors – for front, left and right
c. 1 optical sensor (to count the back/white strip on the ground)
d.



1 7-segment LED
e. 1 buzzer with driving transistor.

Design an intelligent Navigation Robotic vehicle that performs the following tasks:
a. On system initialization the vehicle should move in a forward direction in a straight path. The locomotion for the vehicle should be implemented by using two stepper motors driven in a full step mode by using Port D of the micro interfaced with a stepper motor driver.




b. The path that the vehicle would follow is marked by a number of markers implemented by using strips of black tape. These markers are placed at random intervals along the path.
c. The vehicle should be able to detect and count these markers. The sensing of these markers should be implemented by using a Photo-Reflective Optical sensor mounted at an appropriate position underneath the vehicle.
d. Every time one of these markers is encountered the system should respond by giving an audio signal through a Piezo Buzzer. A visual response should also be given by a single 7-segment LED.
e. Every marker encountered by the vehicle in its path should be counted and the appropriate accumulated value of these should be given as an audio and visual feedback.
f. An obstacle is placed at a random point along the vehicle’s path. If the vehicle senses this object by a front mounted Sharp Proximity sensor at a distance of 25 cm or less the vehicle should initially pause for a short duration and then continue by reversing along the path while counting down every marker encountered from the previously counted value and should also provide the appropriate audio and visual feedback by sounding/flashing the counted down value of markers. When the vehicle arrives at the last marker, (i.e.



The initial starting position) the vehicle should stop. At this point you have your individual option of demonstrating the task completion by using an audio – visual feedback.

There are five scenarios that the prototype will be tested (with regards to the obstacle navigation):
i. Forward direction with no obstacle.
Ii.

Forward direction with obstacle. Vehicle to move back and turn either left or right.
Iii.

Forward direction with obstacle in front and on the left. Vehicle to move back slightly (optional) and turn right and proceed to move forward thereafter.
Iv.

Forward direction with obstacle in front and on the right. Vehicle to move back slightly (optional) and turn left and proceed to move forward thereafter.
v. Forward direction with obstacle in front, on the left and on the right. Vehicle to move back slightly and clear from all obstacles and rotate 180 degree and continue to move forward thereafter. The counter of the 7-segment during the forward path (up count) and reverse path (down count) will be counted.



Upon reaching zero it will stop the vehicle. (Bonus feature).