INTRODUCTION

Our project is wall following robot with maze problem solving.

It works mainly on two infrared sensor attached to the chassis
of the robot. It has been designed to work using controller
Atmega16. It also includes the motor driver chips for driving the
motors of the robot. In this project we build a robot which
follows the wall without any problem, when the robot module
is placed within the sensor range of wall.
The robot is also provided with necessary circuitry to interface
various sensors with the microcontroller and perform different
functions according to the code written onto the micro
controller.


Objectives
The objective of the project is to develop an autonomous robot
that when placed in an open space, finds a wall first and then
follows the wall in order to find the end of that wall. This
principle is used in maze detection where the robot will
traverse through a maze to find a way out. This robot works
according to the instructions stored in its programmer chip.
When placed initially in an open space, the robot will run to
find a wall first. On finding the wall, it will follow the wall either
by turning LEFT or RIGHT as programmed. It detects a wall by
using the sensors and the same sensors are used to detect
turns & bends and thus follow the wall to ultimately get out of
the maze. In this way the robot does the task of maze
detection.




FUNCTIONAL REQUIREMENT

AVR Microcontroller (Atmega16)

IR Sensors

Edit plus Software to write and compile the c program

Motor Driving Circuitry

DC Motors

Maze

Batteries

Capacitor

Resister

IC Regulator(7805)

LEDs






CIRCUIT DIAGRAM




Expected Time Schedule (Pert Chart)
PHASE 1

This is the basic phase but the most time consuming phase as
this phase involve the primary step towards the search of
component and ICs.
Hence it consist of two parts-
Hardware
Software
PHASE 2
This part mainly consist of PCB designing .Various stages of PCB
designing are-
Layout design and masking
Printing
Etching
Cleaning
Tinning
Drilling
PHASE 3
After completion of PCB design, we mount the various
components on it. It should be done very carefully.we will also
design a robot with two dc motor.A motor driver IC will
interface with the microcontroller and DC motors.An IR sensor
will detect the obstacles in the path of robot; it will be
interfaced with the microcontroller.IR sensor will detect the
obstacles and send a signal to a microcontroller;as a result
controller provided instruction to motor driver as pre
programmed.

PHASE 4
This is the final stage of project,in this phase we wil write a
program to give the instructions to microcontroller.The
program will write in AVR studio compiler window(C language
format). This source program will be converted in Hex code for
burn it into microcontroller.For this purpose we will use two
softwares given below.
1): Compiler(AVR studio 4.0) 2): Source code(AVR GCC)
This phase also include final testing of all coding ,interface
circuit functioning and performance of whole system.If any
error will be generated thren we will try to remove that error
by modification on the circuit.
Applications
Autonomous mobile robot is a hot research topic and attracts
many interests due to that mobile robot has been or will be
employed in various fields, such as space exploration, under
water survey, industrial and military industries, service and
medical applications, and so on.Wall-following strategy can
help the mobile robot to avoid deadlock caused by local minim
and fulfill the given task effectively. Spiking Neural Networks
(SNNs), the third generation of the neural networks, is suitable
in the design of mobile robot behavior's controller. In this
paper, a wall-following controller based on SNNs for mobile
robot is presented. Pulse frequency codes and pulse temporal
coincidence detection codes are used in the proposed SNN
controller. The designed controller can not only control the
robot to follow the wall successfully, but also can be easily
implemented.Automatic navigation of robots is always
regarded as a critical part of machine intelligence. While
outdoor navigation can be achieved using GPS technology,
satellite-based indoor navigation is limited due to poor signal
reception and high requirement on accuracy.Therefore many
indoor navigation methods are developed and used instead.
These methods include computer vision technology, sensors of
different perspective of view, etc.

Future improvement
Future improvement can be made such as the detection of the
color object, and automatic color threshold adjustment. Many
advance applications can be achieved based on the features of
Wall-Follower, including parallel parking, automatic indoor
navigation and so on.


References

IEEE Xplore - The Wall-Following Controller for the
Mobile Robot ...
http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5376087&url=http%3A%2F%2Fieeexplo
re.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5376087
Maze solving algorithm
http://en.wikipedia.org/wiki/Maze_solving_algorithm