ROBO ATTENDER

MINI PROJECT REPORT

Submitted in partial fulfillment of the requirement for the award of degree of Bachelor of Technology in
ELECTRONICS AND COMMUNICATION ENGINEERING of MAHATMA GANDHI UNIVERSITY By PAUL JAMES(201029) SREEKANTH PRABHAKAR C.M. (201056)

Department of Electronics and Communication Engineering Rajagiri School of Engineering and Technology Rajagiri Valley, Cochin - 682 039

2011-2012

Rajagiri Valley, Cochin - 682 039

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

CE R TIFICA TE
Certified that the m ini project w ork titled R O B O A TTE N D E R is a bonafide report of the m ini project done by Paul Jam es(201029) and Sreekanth Prabhakar C.M .(201056) of sixth sem ester E lectronics and Com m unication E ngineering in partial fulfillm ent of the requirem ent for the aw ard of degree of B achelor of Technology in E lectronics and Com m unication of the M ahatm a G andhi U niversity, K ottayam , during the academ ic year 2011-2012.

Mr. Jos Prakash Project Guide

Mr. Jaison Jacob Head of the Department

Internal Examiner Place : Kakkanad Date :

External Examiner

ACKNOWLEDGEMENT

First and foremost we praise the almighty God for the grace he showered on us during our studies as well as our day to day activities. We would like to take this chance to thank our principal Dr. J. Isaac for providing us with such an environment, where students can explore their creative ideas. We are extremely grateful to our project guide Mr.Jos Prakash, Dept. of Electronics, RSET for his proper guidance and support and also for providing us with valuable suggestions during the course of our work for the successful completion of our project. We shall be failing in our duty if we do not thank Mr. Jaison Jacob, HOD, Dept. of Electronics & Communication for his enduring support. We would like to express our sincere gratitude to our Ms. Deepti Das Krishna and Mr. Rony Antony P. for their valuable help and support. We are grateful to our lab in charge who were always ready to help us when we were in any need of assistance. Last but not the least we would like to uphold the help and support by our friends and family without whom this endeavor would not have been a success.

ABSTRACT

Robotics has emerged as todays technology. In every field, we can find some applications of a robot. We prefer it mainly when A job is to be done in harsh environments such as deep coal mines. As a replacement for manual labour ie, as a soldier, in the automobile industry.

Here in our project, we present a simple scheme to navigate the robot. This method can be applied to any mobile robot which has to be navigated between a finite numbers of destinations. We demonstrate this method using a robot which serves as an attender in a hospital ward. We assign a binary code as the address of each destination. The robot will be programed to compare the destination address with that of nearby beds and find the shortest path. Atmega16 has been used as the microcontroller for the robot. IR and ASK transmitter & receiver are used as communication methods for data transfer.

CONTENTS

1.

BASIC BLOCK DIAGRAM .........................................................................04

2.

BASIC ALGORITHM ....................................................................................05

3.

INTRODUCTION ..........................................................................................01

4.

HARDWARE DESIGN ................................................................................06

4.1 HARDWARE DESCRITION ..................................................................06

4.2 SCHEMATIC DESIGN.14

4.3 PCB LAYOUTS......................................................................................17

5.

SOFTWARE DESIGN .....................................................................................18

6.

RESULT AND CONCLUSION .......................................................................26

6.1 CONCLUSION....26

6.2 FUTURE SCOPE.26

7.

REFERENCES....27

Mini Project Report

Robo Attender

1. INTRODUCTION 1.1 ROBOT AND ROBOTICS A ROBOT is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. (Robot Institute of America). Mobility, Programmability, Sensors, Mechanical capability and Flexibility are some of the essential features of a robot. Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots and computer systems for their control, sensory feedback, and information processing. The concept and creation of machines that could operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20th century. Today, robotics is a rapidly growing field, as we continue to research, design, and build new robots that serve various practical purposes, whether domestically, commercially, or militarily. Robots are especially useful when 1. The risk factor is high Eg: Space exploration, chemical spill cleanup, disarming bombs 2. The work is Monotonous Eg: Welding car frames , pick and place, manufacturing parts 3. Tasks require High precision and High speed Eg: Electronics testing, Surgery, precision machining.

1.2 THE AVR MICROCONTROLLER The AVR is a modified Harvard architecture, 8-bit RISC, single chip microcontroller which was developed by Atmel in 1996. The AVR was one of the first microcontroller families to use on-chip flash memory for program storage, as opposed to one-time programmable ROM, EPROM, or EEPROM used by other microcontrollers at the time. Here we use Atmega16 microcontroller which belongs to one of the basic families of AVR called the megaAVR series. MegaAVR family is characterized by

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

4256 kB program memory 28100-pin package Extended instruction set (Multiply instructions and instructions for handling larger program memories) Extensive peripheral set

The Atmega16

is a High-performance, Low-power 8-bit AVR Microcontroller with 32 general

Advanced RISC Architecture. It supports 131 Powerful Instructions. It has

purpose Working Registers( 8-bit). The speed is up to 16 MIPS throughput at 16 MHz. The memory system consists of 16K Bytes of in-system Self-programmable Flash program memory, 512 Bytes EEPROM and 1K Byte internal SRAM. It offers 10,000 write/erase cycles for the flash memory and 100,000 write/erase cycles for the EEPROM. A data retention period of 20 years is claimed at 85C.

1.3 RF MODULE The RF module, as the name suggests, operates at Radio Frequency. The corresponding frequency range varies between 30 kHz & 300 GHz. Here Amplitude Shift Keying (ASK) is used , in which the digital data is represented as variations in the amplitude of carrier wave. Transmission through RF is better than IR (infrared) because of many reasons. Firstly, signals through RF can travel through larger. Also, while IR mostly operates in line-of-sight mode, RF signals can travel even when there is an obstruction between transmitter & receiver. Next, RF transmission is more strong and reliable than IR transmission. RF communication uses a specific frequency unlike IR signals which are affected by other IR emitting sources. This RF module comprises of an RF Transmitter and an RF Receiver. The transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz. An RF transmitter receives serial data and transmits it wirelessly through RF through its antenna connected at pin4. The transmission occurs at the rate of 1Kbps - 10Kbps.The transmitted data is received by an RF receiver operating at the same frequency as that of the transmitter. The RF module is often used along with a pair of encoder/decoder. The encoder is used for encoding parallel data for transmission feed while reception is decoded by a decoder. HT12EHT12D, HT640-HT648, etc. are some commonly used encoder/decoder pair ICs.

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

1.4 IR MODULE The robot uses an infrared based system to detect obstacles. The basic principle behind our obstacle detection system is reflection. An IR sensor is used to detect the IR waves reflected from an obstacle. The output from the sensor is then used in implementing obstacle avoidance. Infrared was chosen as both sound and light are very prone to ambient interference. Another good reason to use infrared is that the relevant part of the electromagnetic spectrum is relatively quiet in an indoors environment, where we don't have to worry about heat radiated from the sun. Also the IR implementation is relatively simpler, less power hungry and much cheaper compared to ultrasonic based systems.

Unfortunately for us there are many more sources of Infra-Red light. The sun is the brightest source of all, but there are many others, like: light bulbs, candles, central heating system, and even our body radiate Infra-Red light. In fact everything that radiates heat also radiates InfraRed light. Therefore we have to take some precautions to guarantee that our obstacle detection system is not falsely triggered. The answer lies in amplitude modulating the IR waves. With modulation we make the IR light source blink in a particular frequency. The IR receiver will be tuned to that frequency, so it can ignore everything else. We chose to modulate the IR waves at 38 KHz and detect it using the TSOP1738 IR sensor.

2. BASIC BLOCK DIAGRAM

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

2.1 CLASSIFICATION OF SECTIONS The project mainly consists of two sections 2.1.1 Transmitter Section This section consists of 8 ask transmitters, one located at each of the bedsides. Each

transmitter will transmit a unique four bit code ,which serves as the identity code of the patient, if a push button switch is pressed.

2.1.2 The Robot The robot is the actual Robo Attender. The brain of the robot is the microcontroller. There is an ask receiver which receives the four bit code sent by the transmitters at the bedsides. The received code is given to the microcontroller, which processes the code, identifies the sender (patient) and guide the robot to the destination. The IR transmitter and receiver helps in obstacle detection. The robot moves with the help of two wheels, connected to dc motors, which are controlled by the microcontroller. The microcontroller used is Atmega16 . It belongs to the AVR series which is a modified Harvard architecture, 8-bit RISC, single chip microcontroller which was developed by Atmel.

3.BASIC ALGORITHM

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

The transmitters are fixed at the bedsides. The bed positions are fixed. Here we consider 8 beds, arranged in 2 rows. The distance between consecutive beds in a row is the same. The arrangement is shown below.

b 111 011

a b 110

010

a b 101

001 a b

100

000

Each bed is equipped with a transmitter and is given a unique identity code. When the patient needs the service of the robot he will press the push button switch. Then the transmitter will send the corresponding id code. This will be received and processed by the robot. The received code is stored in the microcontroller as the target code, t. The robot will have an initial position. The corresponding code is stored as the variable i. The identity codes are given in a specific order so that the codes of similar members of the two rows differ by 4 (eg: 111 and 011). Also the first row contains transmitters with id codes from 4 to 7.The other row contains transmitters with id code from 0 to 3. This arrangement helps to identify whether the robots current position and the destination are on the same side or not. If they belong to the same row, the microcontroller will execute a block of instruction, which moves the robot from one bed to the next bed on the same row, n times where n is the difference between i and t.

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

If the i and t values correspond to beds on different rows, the microcontroller will make the robot to cover a distance b towards left or right. Then the value of i is changed(+/- 4). Then it follows as before (i and t on sameside).

4. HARDWARE DESIGN 4.1 HARDWARE DESCRIPTION 4.1.1 THE ROBOT The robot is controlled by an AVR microcontroller- atmega 16. The microcontroller is connected to an ask receiver system, an IR transmitter-receiver pair and two dc motors ( through driver IC ). 4.1.1.1 ATMEGA 16 The atmega16,40 pin DIP, is used.

Pin Descriptions VCC : Digital supply voltage.

GND : Ground.

Port A (PA7..PA0) : Port A serves as the analog inputs to the A/D Converter. Port A also serves as an 8-bit bidirectional I/O port, if the A/D Converter is not used.

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

Port B (PB7..PB0) : Port B is an 8-bit bi-directional I/O port with internal pull-up resistors.Port B also serves the functions of various special features of the ATmega16.

Port C (PC7..PC0) : Port C is an 8-bit bi-directional I/O port with internal pull-up

Port D (PD7..PD0): Port D is an 8-bit bi-directional I/O port with internal pull-up resistors. Port D also serves the functions of various special features of the ATmega16

RESET : A low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running.

XTAL1 : Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

XTAL2 : Output from the inverting Oscillator amplifier.

AVCC : AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC through a low-pass filter.

AREF : AREF is the analog reference pin for the A/D Converter. 4.1.1.2 : MOTOR DRIVING SECTION

4.1.1.2.1 The H-Bridge The original concept of the H-Bridge was being able to control the direction a motor was going. Forward or backward. This was achieved by managing current flow through circuit elements called transistors. The formation looks like an H and that's where it gets the name H-Bridge. Here is what it looks like:

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

A 1 0 1 0

B 0 1 1 0

C 0 1 0 1

D 1 0 0 1

FUNCTION Forward Reverse Brake Brake

The picture above illustrates the 4 base cases that we can get out of the simple version of an H-Bridge. The two cases that interest us are when A & D are both 1 and when B & C are both 1.

When A & D are 1 current from the battery will flow from point A through the motor to D's ground. However for the case when B & C are both 1, current will flow in the opposite direction from B through the motor to C's ground.

4.1.1.2.2 L298 (Motor Driver)

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and PowerSO20 packages. It is a high voltage, high current dual full-bridge driver designed to accept standard TTL logic levels and drive inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputs are provided to enable or disable the device independently of the input signals. The emitters of the lower transistors of each bridge are connected together and the corresponding external terminal can be used for the connection of an external sensing resistor. An additional supply input is provided so that the logic works at a lower voltage.

4.1.1.3: IR SECTION Generating the 38 KHz IR wave The 38 KHz wave can be obtained by configuring a 555 timer as an Astable Oscillator. Tlow = 0.693R2C1 Thigh = 0.693(R1+R2)C1 F = 1/( Thigh- Tlow) For reliable operation, the resistors should be between approximately 10K and 14M, and the timing capacitor should be from around 100pF to 1000F. So we are using R1=R2=18kohm and c=0.001F. Detecting the 38 KHz IR waves The detection is done using the TSOP1738 IR sensors. These sensors are widely available and is commonly found at the receiving end of an IR remote control system; e.g., in TVs, CD players etc. The TSOP1738 has a photo detector, preamplifier and demodulator in one package. Thus no separate demodulator is required. This sensor requires the incoming data to be modulated at 38 KHz and would ignore any other IR signals. Its Epoxy coating acts as an IR filter. Thus it is highly immune to ambient IR light, so one can easily use these sensors outdoors or under heavily lit conditions.

Rajagiri School of Engineering and Technology

Mini Project Report

Robo Attender

4.1.2 RF TRANSMITTING AND RECEIVING SECTION

4.1.2.1 Transmitter And Receiver Module This project uses the widely and cheaply available RF ASK (Amplitude Shift Keying) based TX/RX modules operating at 434MHz, hence falling into the Ultra High Frequency (UHF) Band. They can be directly interfaced to a microcontroller or can be used in remote control applications with the help of encoder/decoder ICs. The encoder IC takes in parallel data at the TX side, packages it into serial format and then transmits it with the help of a RF transmitter module. At the RX end, the decoder IC receives the signal via the RF receiver module, decodes the serial data and reproduces the original data in the parallel format. Pin Diagram Receiver Transmitter

4.1.2.2 ENCODER AND DECODER IC-S

4.1.2.2.1 HT12E Encoder

Rajagiri School of Engineering and Technology

10

Mini Project Report

Robo Attender

HT12E is an encoder integrated circuit of 212 series of encoders. They are paired with 212 series of decoders for use in remote control system applications. It is mainly used in interfacing RF and infrared circuits. The chosen pair of encoder/decoder should have same number of addresses and data format. Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit parallel data into serial for transmission through an RF transmitter. These 12 bits are divided into 8 address bits and 4 data bits. HT12E has a transmission enable pin which is active low. When a trigger signal is received on TE pin, the programmed addresses/data are transmitted together with the header bits via an RF or an infrared transmission medium. HT12E begins a 4-word transmission cycle upon receipt of a transmission enable. This cycle is repeated as long as TE is kept low. As soon as TE returns to high, the encoder output completes its final cycle and then stops. Pin Diagram

Pin Description Pin Number 1 2 3 4 5 6 7 Function 8 BIT ADDRESS PINS FOR INPUT Name A0 A1 A2 A3 A4 A5 A6

Rajagiri School of Engineering and Technology

11

Mini Project Report

Robo Attender

8 9 10 11 12 13 14 15 16 17 18 TRANSMISSION ENABLE (ACTIVE LOW) OSCILLATOR OUTPUT OSCILLATOR INPUT VALID TRANSMISSION, ACTIVE HIGH SUPPLY VOLTAGE; 5V (2.4 12V) GROUND (0V) 4 BIT DATA/ADDRESS PINS FOR INPUT

A7 GROUND D0 D1 D2 D3 TE OSC 2 OSC 1 VT Vcc

4.1.2.2.2 HT12D Decoder HT12D IC comes from HolTek Company. HT12D is a decoder integrated circuit that belongs to 2^12 series of decoders. This series of decoders are mainly used for remote control system applications, like burglar alarm, car door controller, security system etc. It is mainly provided to interface RF and infrared circuits. They are paired with 2^12 series of encoders. The chosen pair of encoder/decoder should have same number of addresses and data format. In simple terms, HT12D converts the serial input into parallel outputs. It decodes the serial addresses and data received by, say, an RF receiver, into parallel data and sends them to output data pins. The serial input data is compared with the local addresses three times continuously. The input data code is decoded when no error or unmatched codes are found. A valid transmission in indicated by a high signal at VT pin. HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits. The data on 4 bit latch type output pins remain unchanged until new is received. Pin Diagram

Rajagiri School of Engineering and Technology

12

Mini Project Report

Robo Attender

Pin Description Pin Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 SERIAL DATA INPUT OSCILLATOR OUTPUT OSCILLATOR INPUT VALID TRANSMISSION, ACTIVE HIGH SUPPLY VOLTAGE; 5V (2.4 12V) GROUND (0V) 4 BIT DATA/ADDRESS PINS FOR OUTPUT Function 8 BIT ADDRESS PINS FOR INPUT Name A0 A1 A2 A3 A4 A5 A6 A7 GROUND D0 D1 D2 D3 INPUT OSC 2 OSC 1 VT Vcc

4.2 SCHEMATIC DESIGN

Rajagiri School of Engineering and Technology

13

Mini Project Report

Robo Attender

4.2.1. MICROCONTROLLER

4.2.2.MOTOR CONTROL

4.2.3. POWER SUPPLY

Rajagiri School of Engineering and Technology

14

Mini Project Report

Robo Attender

4.2.4. TRANSMITTER AND RECEIVER

Rajagiri School of Engineering and Technology

15

Mini Project Report

Robo Attender

4.2.5. IR TRANSMITTER

4.2.6 IR RECEIVER

Rajagiri School of Engineering and Technology

16

Mini Project Report

Robo Attender

4.3 PCB LAYOUTS RF RECEIVER

RF TRANSMITTER

IR TRANSMITTER

Rajagiri School of Engineering and Technology

17

Mini Project Report

Robo Attender

5.SOFTWARE DESIGN The software used to code atmega16 is winAVR. 5.1 About WinAVR WinAVR is a suite of executable, open source software development tools for the Atmel AVR series of RISC microprocessors hosted on the Windows platform. It includes the GNU GCC compiler for C and C++. This is indeed an ease to the user to do the program. The compiler will also generate the hex file that can be loaded to the microcontroller. WinAVR contains all the tools for developing on the AVR. This includes avr-gcc (compiler), avrdude (programmer), avr-gdb (debugger), and more. WinAVR is widely accepted all over the world from hobbyists to schools,and to commercial projects. 5.2 AVR CODING

#include<avr/io.h> #include <util/delay.h>

int main(void) { int b1,b2,b3,b0,x,t,i,c,n;

DDRB&=~(1<<0); DDRB&=~(1<<1); DDRB&=~(1<<2); DDRB&=~(1<<3); //PORTB AS INPUT

/* declare PORT C as output*/ DDRC|=((1<<PC0)|(1<<PC1)); DDRC|=((1<<PC2)|(1<<PC3)); DDRC|=((1<<PA0));

i=0; // initial position is set as zero.

while(1)

Rajagiri School of Engineering and Technology

18

Mini Project Report

Robo Attender

{ // store the received bits to the variables. if(PINB&(1<<3)) { b3=1; } else { b3=0; }

if(PINB&(1<<2)) { b2=1; }

else { b2=0; }

if(PINB&(1<<1)) { b1=1; } else b1=0;

if(PINB&(1<<0)) b0=1;

else b0=0;

Rajagiri School of Engineering and Technology

19

Mini Project Report

Robo Attender

//convert the received binary code to decimal x=(b3*4)+(b2*2)+(b1*1);

assign the received code as the target code. t=x; ss: if((t<=3) && (i<=3)) // both initial and target positions are in 1st row {

if(i= = t) { finish( ); // indicates that the destination is reached. } else { if(i<t) { n=t-i; right( ); for(c=0;c<n;c++) { forward1( ); } left( ); i=t; finish( ); }

if(i>t) { n=i-t; left( );

Rajagiri School of Engineering and Technology

20

Mini Project Report

Robo Attender

for(c=0;c<n;c++) { forward1( ); }

right( ); i=t; finish( ); }

} } else if((t>3) && (i>3)) // initial and target positions are on the 2nd row. {

if(i==t) { finish( ); } else { if(i<t) { // number of times of loop execution n=t-i; right( ); for(c=0;c<n;c++) { forward1( ); }

left( ); i=t;
Rajagiri School of Engineering and Technology

21

Mini Project Report

Robo Attender

finish( ); }

if(i>t) { n=i-t; right( ); for(c=0;c<n;c++) { forward1( ); } left( ); i=t; finish( ); }

} }

if((i-t)<-3) { rotate( ); forward2( ); i=i+4; goto ss; }

else if((i-t)>3) { rotate( ); forward2( ); i=i-4; goto ss;

Rajagiri School of Engineering and Technology

22

Mini Project Report

Robo Attender

} } return 0;

void finish( ) { PORTA|=(1<<0); _delay_ms(2000); }

void forward1( ) // to cover the distance between adjacent elements in a row. { PORTC|=(1<<0); PORTC&=(~(1<<1)); PORTC|=(1<<2); PORTC&=(~(1<<3));

_delay_ms(2000); }

void forward2( ) // to cover the distance of separation between the 2 rows. { PORTC|=(1<<0); PORTC&=(~(1<<1)); PORTC|=(1<<2); PORTC&=(~(1<<3)); _delay_ms(4000);

void rotate( ) // to take 180 degree rotation

Rajagiri School of Engineering and Technology

23

Mini Project Report

Robo Attender

{ _delay_ms(500); PORTC|=(1<<PC0); //PC0 = HIGH PORTC&=(~(1<<PC1)); //PC1 = LOW PORTC|=(1<<PC3); //PC3 = LOW PORTC&=(~(1<<PC2)); //PC2 = LOW _delay_ms(500);

PORTC&=(~(1<<PC0)); //PC0 = LOW PORTC&=(~(1<<PC3)); //PC3 = LOW

_delay_ms(500); }

void right( ) // to take 90 degree turn towards right { _delay_ms(500);

PORTC|=(1<<2);

//PC2 = high

PORTC&=(~(1<<3)); // PC3 = low

_delay_ms(500);

PORTC&=(~(1<<PC2)); //PC2 = low _delay_ms(1000); }

void left( ) // to take 90 degree turn towards left { _delay_ms(500);

Rajagiri School of Engineering and Technology

24

Mini Project Report

Robo Attender

PORTC|=(1<<3); PORTC&=(~(1<<2));

//PC3 = HIGH

_delay_ms(500);

PORTC&=(~(1<<PC3)); //PC3 = LOW _delay_ms(1000); }

6. RESULT AND CONCLUSION

Rajagiri School of Engineering and Technology

25

Mini Project Report

Robo Attender

6.1 CONCLUSION The project was completed in a step by step manner. In the first stage basic algorithm and a preliminary idea about the circuit and the components were developed. Atmega 16 microcontroller was chosen as the microcontroller and AVR coding was studied. Then the preliminary programs were developed to test motors, ir module etc. After that we worked on the ask modules and modified the circuit by including the encoder-decoder ICs. In the subsequent stages the RF module was interfaced with the microcontroller and it was tested. Simultaneously the robot was built. AVR coding and the combined circuit were completed. The transmitters were set at the desired positions and the robot was tested. The robot reached the required destination through the shortest path and thus the project Robo Attender was successfully completed.

6.2 FUTURE SCOPE

The present algorithm can be applied to any situations where the robot is to be navigated between a fixed number of immobile targets. Eg : As file carrier in an office, supplier in a restaurant etc.

A number of future enhancements are possible. Solar panel could be used to provide power when the robot is operated outdoors. An auto-switching feature could be implemented to choose power sources depending on the environment. Levels of artificial intelligence and genetic behaviours such as wall following, maze solving, ant behaviours, path finding, fire fighting, etc. could be implemented. Various tools such as arms, grippers, pumps, etc. can be used as end effectors to provide added functionalities. The obstacle detection system can be modified as an obstacle avoidance system by using image processing.

Rajagiri School of Engineering and Technology

26

Mini Project Report

Robo Attender

7. REFERENCE
Atmega 16 o www.microchip.com/ o www.avrfreaks.net/ L298 o www.st.com/internet/analog/product/63147.jsp ASK modules o www.maxembedded.wordpress.com/tag/ht12d/ o www.in.answers.yahoo.com/question/index?qid=20110711033450 o www.roboticsindia.com/showthread.php/2320-Help-with-usinng-434MHzRF-Module-with-HT12E-D-without-MCU
TSOP 1738

o www.electroschematics.com/4338/tsop-1738-photo-module-design-notes

Rajagiri School of Engineering and Technology

27