This project comprises the design and implementation of a fully autonomous Self
Guidance Robot (SGR). The robot is an embedded system that integrates hardware
and software in its design and operation. The hardware design includes a PIC
microprocessor and other components that provide the circuitry for the robot
operation. The software design will include programs written in assembly language.
The main objective of the self guiding robot is to guide itself through a
predeterminedpath and avoid any obstacle in its path.
The physical structureof the self guiding robot is mainly built using aluminum. And
the tyre ofthe self guiding robot is built using fiberglass cylinder.
A transmitter receiver pair of ultrasonic sensors is used for the ultrasonic circuitry.
The transmitter primarily consists ofLM555 timer that is used to generate the 40 kHz
signal to drive the ultrasonic sensors. The receiver circuit is primarilyconsists of two
LM741 op amp. The op-amp is used to boost the signal received by the receiver
transducer. The receiver circuit output is then fed to the PIC16f877 for processing.
A PIC16f877 and PIC16f84 microcontroller are used in this project. It functions as
the brain of the self guiding robot. The microcontrollers coordinate the motions of
the robot by controlling the servo and DC motor based on the signal it received from
the ultrasonic receiver circuit.
An H-bridge circuit is used to control the motors' forward/reverse motion. The Hbridge
primarily consists of 2 L298 chip. The L298 IC is a motor driver integrated
circuit
