Obstacle Avoiding Robot

An obstacle avoiding robot which uses fuzzy logic based motor control and is implemented using PIC18 series micro-controllers.

This code is designed to run on 3 separate micro-controllers.

• One master controller for the main logic. (PIC18F4550)
• Two slave controllers for each wheel. (PIC18F2431)

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Overview

• The robot takes obstacle distance readings from a semi circular array of 6 ultrasonic sensors at the front.

• All the obstacle distances for the sensors are displayed on a mounted LCD

• The master controller uses fuzzy logic to calculate its next move from these readings.

• To execute this move, it communicates instructions to the slave controllers to change their wheel speeds.

• Each slave controller implements a PID controller for the motor control and uses an H-bridge to actuate the motor.

• The motors are geared and fitted with Quadrature Encoder Interfaces which allow for distance tracking.

• All of this is powered by a LiPo battery fed to a voltage regulation circuit. A switch is used to turn on the battery.

Component list

• Acrylic Sheet (For chassis)
• PCBs (Master board, Slave boards, Power control, H-bridges)
• Ultrasonic Sensors (x6)
• Geared motors (x2)
• LiPo BATTERY
• PIC18F4550
• PIC18F2431
• Wheels
• Switch
• LCD

PCB Design

Master	Slave

Power Board	H-Bridge

The Robot

Demo

• https://drive.google.com/file/d/1B_wSCzIXVE4DQtoK-q6M3EEdJ4ioSQuX/view?usp=sharing