UNIVERSITI TEKNOLOGI MALAYSIA
Contents
1. 1100 left1 memory PORTD amp 0b11111111 else if senl 0 amp amp sen2 0 amp amp sen3 0 amp amp sen4 0 0000 if memory 0b00000001 II memory 060000001 1 Il memory 0b0000010 sharpright1 else if memory 0b00001000 II memory 0b00000100 II memory 0b00001100 sharpleft1 Iline following 2 mode void line_follow2 void unsigned char memory if sen8 0 amp amp sen7 0 amp amp sen6 0 amp amp sen5 1 0001 sharpright2 memory PORTD amp 0b11111111 else if sen8 0 amp amp sen7 0 amp amp sen6 1 amp amp sen5 0 0010 right2 memory PORTD amp 0b11111111 else if sen8 0 amp amp sen7 0 amp amp sen6 1 amp amp sen5 1 0011 right2 memory PORTD amp 0b11111111 else if sen8 0 amp amp sen7 1 amp amp sen6 0 amp amp sen5 0 110100 left2Q memory PORTD amp 0b11111111 else if sen8 0 amp amp sen7 1 amp amp sen6 1 amp amp sen5 0 0110 forward20 else if sen8 1 amp amp sen7 0 amp amp sen6 0 amp amp sen5 0 111000 sharpleft2 memory PORTD amp 0b11111111 else if sen8 1 amp amp sen7 1 amp amp sen6 0 amp amp sen5 0 1100 left2 Q memory PORTD amp 0b11111111 else if sen5 1 amp amp sen6 1 amp amp sen7 1 amp amp sen8 1 1111 forward20 else if sen5 0 amp amp sen6 0 amp amp sen7 0 amp amp2. xi 3 13 3 14 3 15 3 16 3 17 3 18 3 19 3 20 3 21 3 22 3 23 3 24 4 1 4 2 4 3 4 4 Pin Diagram and Actual Look of L298N Motor Driver Circuit Connection of Motor Driver L298N Circuit Connection of IR Sensors Part A Circuit connection of IR Sensors Part B Main Circuit Motor Driver Circuit All Circuit Mounted on Mobile Base Flow Chart of Main Program Flow Chart of Line Following Sensor Condition to Detect Junction Path for the Line Following Sensor for the Line Following Final Hardware Design Step on How Mobile Robot Follows Line in Omni Directional Movement Step on How Mobile Robot Follows Line in Normal Movement Comparison between Omni Directional and Normal Movement 31 31 32 33 34 34 35 36 37 38 39 39 41 44 45 46 xii A ADC AUSART C CD DC DOF FYP VO IR kg LiPo mA mAh MHz mNm MSSP PIC PSP RM RPM TIL xiii LIST OF ABBREVIATION Ampere Analog to Digital Converter Addressable Universal Synchronous Asynchronous Receiver Transmitter Computer Compact Disc Direct Current Degree Of Freedom Final Year Project Input Output Infra Red Kilo Kilogram Lithium Polimer mili Ampere mili Ampere hour Mega Hertz Millimeter miliNewtonmeter Master Synchronous Serial Port Peripheral Interface Controller Parallel Slave Port Ringgit Malaysia Revolution Per Minute second Transistor transistor Logic Voltage XIV LIST OF APPENDI
3. 30 3 2 4 Circuit Connection for DC Geared Motor s Motor Driver L298N Motor driver L298N is used in the main circuit as the driving chip of three DC geared motors which provide the mobility of the mobile robot This motor driver allows a total of 2A high current to pass through it during operation This complies with the using of 12V DC geared motor Furthermore it is also a high voltage and current dual full bridge driver that was designed to accept standard TTL logic levels and drive inductive loads such as relays solenoids DC and even stepper 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 A motor driver L298N can drive up to 2 DC geared motor Since I used 3 DC geared motor so I need total of 2 motor driver L298N Figure 3 13 Shows The Pin Diagram And Actual Look Of A L298N Motor Driver While Figure 3 14 Shows The Circuit Connection Of L298N In The Main Circuit 31 INPUT 3 LOGIC SUPPLY VOLTAGE Ves GNO INPUT 2 ENASLE A INPUT 1 SUPPLY VOLTAGE Vs OUTPUT 2 OUTPUT 1 CURRENT SENSING A Figure 3 13 Pin Diagram and Actual Look of L298N Motor Driver DC Motor 2 330 Ohm 330 Ohm 329 Ohm D
4. sen8 0 110000 m stop 63 64 Nine following 3 mode void line_follow3 void unsigned char memory if sen9 0 amp amp sen10 0 amp amp sen1 1 0 amp amp sen12 1 0001 sharpright3 memory PORTA amp 0b00111100 else if sen9 0 amp amp sen10 0 amp amp senl 1 1 amp amp sen12 0 0010 right3 memory PORTA amp 0b00111100 else if sen9 0 amp amp sen10 0 amp amp sen1 1 1 amp amp sen12 1 0011 sharpright3 memory PORTA amp 0b00111100 else if sen9 0 amp amp sen10 1 amp amp sen 1 0 amp amp sen12 0 0100 left3 memory PORTA amp 0b00111100 else if sen9 0 amp amp sen10 1 amp amp sen 1 1 amp amp sen12 0 0110 forward3 else if sen9 1 amp amp sen10 0 amp amp sen1 1 0 amp amp sen12 0 111000 65 sharpleft3 memory PORTA amp 0b00111100 else if sen9 1 amp amp sen10 1 amp amp sen1 1 0 amp amp sen12 0 1100 sharpleft30 memory PORTA amp 0b00111100 else if sen9 1 amp amp sen10 1 amp amp senl1 1 amp amp senl2 1 1111 forward3 else if sen9 0 amp amp sen 10 0 amp amp senl1 0 amp amp sen12 0 0000 m_stopQ Motor Control function void m_stop void Imotor1 0 Imotor2 0 rmotor1 0 rmotor2 0 bmotor1 0 bmotor2 0 void Im_run unsigned char dir Imotor1 dir Imotor2 dir void
5. and motor driver circuit to drive motor Figure 3 9 shows the image of the LiPo batteries that had been used Figure 3 9 LiPo Battery 27 3 2 3 I O Pin Assignation for PIC16F777 Microcontroller was used in this project due to its small sizing low cost but high performance A microcontroller is combination of a microprocessor memory I O ports and other special function registers such as timer ADC PWM interrupt etc PIC16F777 was selected as it is readily available and easy to use Figure 3 10 shows the picture of the PIC16F777 Figure 3 10 PIC16F777 PIC16F777 is used as the main controlling unit It has 40 pin It has the program memory up to 8k single word instructions It has 36 I O which are port A B C D and E It also has 17 interrupts 2 comparators and can control 3 PWM This PIC is able to be used for this project since it has to control 3 DC geared motor 28 The key features of PIC16F777 can be summarized as in Table 3 1 while the pin diagram of this microchip can be found in Figure 3 11 Table 3 1 PIC16F777 device Features Features Description Operating Frequency DC 20 MHz Flash Program Memory 14 bit words 8K Data Memory bytes 368 Interrupts 17 I O Ports Ports A B C D E Timers 2 Capture Compare PWM Modules 3 Master Serial Communications MSSP AUSART Parallel Communications PSP 10 bit Analog to Digital Module 14 Input Channels Instruction Set 3
6. dan mengikut jalan dalam arah yang ditetapkan CHAPTER TABLE OF CONTENTS TITLE DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK TABLE OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF ABBREVIATIONS LIST OF APPENDIXES INTRODUCTION 1 1 Project Background 1 2 Problem Statements 1 3 Objectives of Projects 1 4 Scopes of Projects 1 5 Thesis Layout 1 6 Planning vii PAGE ii iii iv vi vii xi xiii XiV KR U WO N e eR LITERATURE REVIEW 2 1 Introduction 2 2 Omni Directional Wheel Design 2 3 2 2 1 A Design of Omni Directional Mobile Robot 2 2 2 Design of an omni directional robot for FIRA ROBOSOT Omni Directional Vehicles 2 3 1 The Omni Directional Writobot by Muhamad Nabil bin Mansor 2007 2008 2 3 2 Omni Directional Mobile Home Care Robot 2 3 3 Moving Target Tracking of Omni Directional Robot with Stereo Cameras 2 3 4 Omni Directional Mobile Robot using Mecanum Wheel 2 4 Summary of Chapter 2 METHODOLOGY 3 1 Hardware and Mechanical Design 3 1 1 Transwheels 3 1 2 DC Geared Motor MO SPG 30 20K 3 2 Electronic and Circuit Design 3 2 1 PIC Start Up Kit SK40C 3 2 2 LiPo Battery 3 2 3 YO Pin Assignation for PIC16F777 3 2 4 Circuit Connection for DC Geared Motor s Motor Driver L298N 3 2 5 Circuit Connection of IR Sensors 3 2 6 Combine All Circuit Oo AI AN WDD 12 13 14 16 17 20 22 23 24 25 26 27 30 32 33 viii 3 3 Pr
7. follow 10 60 while 1 line_follow1Q if sen2 1 II sen3 1 amp amp sen6 1 II sen7 1 amp amp sen10 1 IIl sen1 1 1 j m_stop Imspeed rmspeed bmspeed 200 lm run 1 rm run 1 bm run 1 delay 30000 break if G 5 for k 0 k lt 10000 k line follow10 while 1 line follow 1 if sen2 1 Il sen3 1 amp amp sen6 1 Il sen7 1 amp amp sen10 1 Il sen1 1 1 j m stop break ifG 6 for k 0 k lt 10000 k m stop 61 line following 1 mode void line_follow1 void unsigned char memory if sen4 0 amp amp sen3 0 amp amp sen2 0 amp amp senl 1 0001 sharpright1 memory PORTD amp 0b11111111 else if sen4 0 amp amp sen3 0 amp amp sen2 1 amp amp sen1 0 0010 right1 memory PORTD amp 0b11111111 else if sen4 0 amp amp sen3 0 amp amp sen2 1 amp amp senl 1 0011 rightl memory PORTD amp 0b11111111 else if sen4 0 amp amp sen3 1 amp amp sen2 0 amp amp sen1 0 110100 left1 memory PORTD amp 0b11111111 else if sen4 0 amp amp sen3 1 amp amp sen2 1 amp amp senl 0 110110 forward1 memory PORTD amp 0b11111111 else if sen4 1 amp amp sen3 0 amp amp sen2 0 amp amp sen1 0 1000 sharpleft1 memory PORTD amp 0b11111111 62 else if sen4 1 amp amp sen3 1 amp amp sen2 0 amp amp sen1 0
8. i Noop to filter the switch 57 if button2 0 execute to the selected mode while button2 0 Noop to filter the switch delay 10000 switch i case 1 0mnil case 2 normall break void omnil void while i 1 led14 1 if G 0 IIG 2 IIG 4 for k 0 k lt 10000 k line_follow1Q while 1 line follow 10 if sen2 1 Il sen3 1 amp amp sen6 1 Il sen7 1 amp amp senl10 1 Il senl 1 1 sensor junction condition j 58 m stop break if 1 Il j 5 for k 0 k lt 10000 k line follow3 while 1 line follow3 if sen2 1 II sen3 1 amp amp sen6 1 II sen7 1 amp amp sen1 0 1 II sen1 1 1 j m stop break if G 3 for k 0 k lt 10000 k line follow20 while 1 line follow2 if sen2 1 IIl sen3 1 amp amp sen6 1 II sen7 1 amp amp sen10 1 Il sen11 1 j m stop break if j 6 59 for k 0 k lt 10000 k m stop void normall void while i 2 led2 1 if j 0 Il j 3 Il j 4 for k 0 k lt 10000 k line follow 1 while 1 line follow 1 if sen2 1 I sen3 1 amp amp sen6 1 Il sen7 1 amp amp sen10 1 ll sen11 1 j m stop Imspeed rmspeed bmspeed 200 Im_run 0 rm run 0 bm run 0 delay 30000 break if j l IIG 2 for k 0 k lt 10000 k line
9. resulting combination of all these forces produces a total force vector in any desired direction thus allowing the platform to move freely in direction of resulting force vector without changing the direction of the wheel Using the mecanum wheel slipping is acommon problem as it has only one roller with a single point of ground contact at any one time Due to the dynamics of the mecanum wheel it can create force vectors in both the x and y direction while only being driven in the y direction Positioning four mecanum wheels one at each corner of the mobile base allows net forces to be formed in the x y and rotational direction Figure 2 1 shows the mecanum wheel and Figure 2 2 shows the design of the mobile robot using the mecanum wheel Figure 2 1 The Mecanum wheel E 7 j he f 5 TTT f WA BS di N Ia A 7 4 L Figure 2 2 Design of mobile robot using the mecanum wheel 2 2 2 Design of an omni directional robot for FIRA ROBOSOT This project constructed by a group of students from Korea Advance Institute of Science and Technology They were Naveen Suresh Kuppuswamy Se Hyoung Cho Daniel Stonier Sung Lok Choi and Jong Hwan Kim The transwheel s unique design contains eight free turning rollers perpendicular to the axle arranged around the transwheels periphery The design combined with the rotation of the wheel body provides the ability to move in any direction It can be
10. rm_run unsigned char dir rmotor1 dir rmotor2 dir void bm_run unsigned char dir bmotor1 dir bmotor2 dir void clockwise void Imspeed rmspeed bmspeed 255 lm run 1 rm_run 1 bm run 1 66 void anticlockwise void Imspeed rmspeed bmspeed 255 Im_run 0 rm run 0 bm run 0 line following 1 void forward1 void Imspeed rmspeed 230 bmspeed 0 lm run 0 rm run 1 void right1 void Imspeed 180 rmspeed 2 16 bmspeed 180 lm run 0 rm run 1 bm run 1 void left1 void rmspeed 180 Imspeed 216 67 bmspeed 180 lm run 0 rm run 1 bm run 0 void sharpleft1 void Imspeed 220 rmspeed 220 bmspeed 220 lm run 0 rm run 0 bm run 0 void sharpright1 void Imspeed 220 rmspeed 220 bmspeed 220 lm run 1 rm run 1 bm run 1 line following 2 void forward2 void Imspeed 180 68 rmspeed 180 bmspeed 240 lm run 0 rm run 0 bm run 1 void right2 void Imspeed 0 rmspeed 200 bmspeed 220 rm run 0 bm run 1 void left2 void Imspeed 220 rmspeed 0 bmspeed 220 lm run 0 bm run 1 rm_run 0 void sharpleft2 void Imspeed 200 rmspeed 200 bmspeed 200 lm run 0 rm run 0 bm run 0 void sharpright2 void Imspeed 200 rmspeed 200 bmspeed 200 Im_run 1 rm_run 1 bm_run 1 Nine following 3 void for
11. to drive the transwheels individually As the input IR sensor is used IR sensor will detect the line in order to make the mobile robot follow the line To control the DC geared motor motor driver L298N is used Figure 3 7 shows the block diagram of the circuit design PIC16F777 Motor Driver L298N Figure 3 7 Block diagram of the circuit design 25 3 2 1 PIC Start Up Kit SK40C PIC Start up Kit is enhanced 40 pins PIC is designed to offer an easy to start board for PIC This board comes with basic element to begin project development By using the SK40C it is easier to do the circuit All the I O pins are nicely labeled to avoid miss connection It will not require extra component for the PIC to function The connector for UICOOA is already assembled to load program So it is easy to re programming which is doesn t have to plugging PIC out and back To connect the I O pins just solder SK40C to board and plugging in the I O components Figure 3 8 shows the picture of the SK40C Figure 3 8 SK40C 26 3 2 2 LiPo Battery Lithium Polymer or LiPo battery is a type of rechargeable battery that normally composed of several identical cells to boost up the voltage and current One 11 1V LiPo batteries were used in this project The model of the battery is Turnigy Nano Tech 11 1V 2200 mAh and discharge rate at 35 C The LiPo battery was used to drive all the circuit for my project which are PIC Start up Kit IR sensor circuit
12. used to design either 3 transwheels or 4 transwheels To design a 3 transwheels mobile robot the position of the 3 transwheels must be 120 apart while 4 transwheels have to be 90 apart The transwheels can be drive by the DC geared motor or the servo motor individually To prescribed robot s movement the kinematic relate to the primary variables which are the angular positions and velocities of the wheel shafts needs to be developed Figure 2 3 and Figure 2 4 below show the design of mobile robot using 3 transwheels and 4 transwheels Figure 2 3 3 transwheels 10 Figure 2 4 4 transwheels 2 3 Omni Directional Vehicles Omni directional mobile robots could perform important tasks in environments congested with static and or dynamic obstacles and narrow aisles such as those commonly found in offices factory house and other places Current wheeled vehicle designs based on skid steering have limited mobility due to the non holonomic constraints of their wheels 2 3 1 The Omni Directional Writobot by Muhamad Nabil bin Mansor 2007 2008 The omni directional writobot is omni directional vehicle that enable to leave its trails similar to writing behavior and to point some coordinate on a surface Writobot is designed on three legs Each leg is 120 apart Each leg needs a castor and a castor needs 2 actuators servo and stepper motor to makes it move in omni 11 directional Servo motor used to steer the robot move
13. 38 The mobile robot has the ability to detect the junction When the sensor cross above the junction the sensor condition will count up and execute the line following mode respective to the path assign in programming Figure 3 22 show the condition to detect the junction Figure 3 22 Sensor Condition to Detect Junction When S2 or S3 and S6 or S7 and S10 or S11 above the line and receive the signal the junction condition will be detected and counting up S1 to S4 is front sensor to move forward while S5 to S8 is right sensor to move to right and S9 to S12 left sensor to move to left 39 Figure 3 23 below shows the path for the line following The line following is already assigned to move in the respected direction Line Following 1 is to move the mobile robot forward while Line Following 2 is to move the mobile robot to the right and lastly Line Following 3 is to move the mobile robot to the right Figure 3 24 shows the sensor for each of line following movement Line following 1 gt Line following 2 lt Line following 3 Figure 3 23 Path for the Line Following Line Following 1 Move forward S1 52 53 S4 59 s5 56 Line Following 3 10 Line Following 2 Move left 11 s7 Move right 12 58 Figure 3 24 Sensor for the Line Following 40 3 4 Summary of Chapter 3 This chapter discussed about the mechanical design electronic and circuit design and programming design of the Omni Di
14. 5 Instructions 29 40 gt RB7 PGD 39 gt RB6 PGC 38 gt RB5 AN13 CCP3 37 3 gt RB4 AN11 36 lt gt RB3 CCP2 AN9 35 gt RB2 AN8 34 RB1 AN10 33 gt RBO INT AN12 32 VDD 31 VSS 30 gt RD7 PSP7 29 gt RD6 PSP6 28 RD5 PSP5 14 27 lt gt RD4 PSP4 15 26 gt RC7 RX DT 16 25 gt RC6 TX CK 17 24 lt gt RC5 SDO 18 23 RC4 SDI SDA 19 22 gt RD3 PSP3 20 21 RD2 PSP2 MCLR VPP RE3 gt RAO ANO RA1 AN1 lt RA2 AN2 VREF CVREF 2 gt RA3 AN3 VREF gt RA4 TOCKI C10UT lt gt RA5 AN4 LVDIN SS C20UT lt gt REO RD AN5 lt gt RE1 WR AN6 gt RE2 CS AN7 lt gt VDD gt OUI ONOoOn WD OUI VSS gt OSC1 CLKI RA7 lt gt OSC2 CLKO RA6 lt gt RCO T1OSO TICKI lt gt RC1 T10SI CCP2 lt gt RC2 CCP1 gt RC3 SCK SCL gt RDO PSPO gt RD1 PSP1 lt gt 3 PIC16F 747 777 CUI LIL Figure 3 11 Pin Diagram of PIC16F777 After decided microcontroller to be used for this project the I O pin assignation for all components are determined Figure 3 12 shows the I O assignation for the main circuit bmotor1 bmotor2 COPR IL n CCR R2 11 CERRI CEE imotor2 gt rrmotonl mona 2 PIC16F777 Figure 3 12 I O Assignation for Main Circuit
15. C Motor 1 Figure 3 14 Circuit Connection of Motor Driver L298N 32 3 2 5 Circuit Connection of IR Sensors Sensors used in line tracking purpose were IR sensors which operate on the basis of photo resistivity An IR sensor is composed of a transmitter and a receiver The transmitter transmit infrared red light which is invisible for human being The transmitted infrared red light will be reflected by a surface and received by the receiver The IR receiver converts light intensity to its equivalent resistance and by using voltage division method the equivalent TTR logic voltage from OV to 5V is generated Figure 3 15 and Figure 3 16 show the circuit design of IR sensors IR TI IR TS IR TI IR 15 IR 11 IR TS IR TI IR 18 IR TI IR 18 Figure 3 15 Circuit Connection of IR Sensors Part A 33 Li gt f gt Chm ia I Ohm fs fs fs 24 Comparaior M326 Comparator Figure 3 16 Circuit connection of IR Sensors Part B 3 2 6 Combine All Circuit After the electronic and circuit design process hands on circuit making is carried out Donut board was employed for all the circuits and modules designed due to its simplicity in circuit connection Figure 3 17 shows the completed main circuit SK40C and IR sensor circuit meanwhile Figure 3 18 shows the motor driver circuit Lastly Figure 3 19 shows all the circuit is mounted on the mobile base 34 i 1 L 1 3 Figu
16. The servo motor can t rotate continuously but it rotates at 180 only 2 3 3 Moving Target Tracking of Omni Directional Robot with Stereo Cameras This project was done by Jun Ming Kuang Ming Liu and Xiang Lin from Department of Electrical and Computer Systems Engineering Monash University Australia in 2006 This robot has stereo cameras for target tracking purpose and move to the target in omni directional It uses 3 transwheels The transwheels are driven by 3 DC motors It uses the stereo cameras to track the target and moving towards the target Figure 2 7 shows the figure of moving target tracking of omni directional robot with stereo cameras 14 Figure 2 7 Moving target tracking of omni directional robot with stereo cameras 2 34 Omni Directional Mobile Robot using Mecanum Wheel This project was developed by Jefri Efendi Mohd Salih Mohd Rizon Mohd Juhari Sazali Yaacob and Abdul Hamid Adom from Kolej Universiti Kejuruteraan Utara Malaysia KUKUM in 2006 The robot uses 4 custom made mecanum wheels The mecanum wheels consist of nine rollers The angle between the rollers and hub axes is 45 All mecanum wheels are independently controlled by 4 DC geared motor Using 4 mecanum wheels provides omni directional vehicle without needing a conventional steering system 15 Depending on each individual wheel direction and speed the resulting combination of all these forces produce a total force vector in any
17. Thesis Layout This thesis consists of 5 chapters and each chapter is briefly discussed here Chapter 1 gives an introduction and overview of this project The project s problem statements objectives and scopes also included in this chapter Chapter 2 presents some of the literature reviews relating to this project It discussed some documentation of previous students work and others Chapter 3 discussed the methodology of the project Hardware and software methodology is explained in this chapter Chapter 4 presents the result of the developed system and its limitation Chapter 6 covers the conclusion and the recommendations for future development 1 6 Planning In order to complete this project proper in planning management will ensure the task is done based on the schedule Figure 4 1 below shows the Gantt chart of this project from semester to semester 2 Table 1 1 Gantt chart Of the Project Schedule for FYP Task Week 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Topic research and proposal Literature review Hardware design Hardware part s purchase Hardware implementation FYPI presentation Report writing a FYP 1 Task Week Hardware completion Software implementation movement Software implementation IR senso
18. UNIVERSITI TEKNOLOGI MALAYSIA DECLARATION OF THESIS UNDERG RADUATE PROJ ECT PAPER AND COPYRIGHT Author s fullname HASRILIZHAM B ISMAIL ABU HASSAN Date of birth 2ISTAPRIL 1988 Title OMNI DIRECTIONAL LINE FOLLOWING MOBILE ROBOT Academic Session 2010 2011 declare that this thesis is classified as CONADENTIAL Contains confidential information under the Official Secret Act 1972 lai RESTRIC TED Contains restricted information as specified by the organisation where research wasdone OPEN ACCESS agree that my thesis to be published asonline open access lacknow full text The thesis isthe property of Universiti Teknologi Malaysia The Library of Universiti Teknologi Malaysia hasthe rightto make copiesforthe purpose of research only The Library hasthe right to make copies of the thesis foracademic exchange Certified by SIG NATURE SIG NATURE OF SUPERVISOR 88042 1 26 5559 DR YEONG CHE FAI NEWIC NO PASSPORTNO NAME OF SUPERVISOR Date 15 May 2011 Date 15 May 2011 NOTES j If the thesis is CONFIDENTIAL or RESTRICTED please attach with the letter from the organisation with period and reasons for confidentiality or restriction I hereby declare that I have read this thesis and in my opinion this thesis is sufficient in terms of scope and quality for the award of the degree of Bachelor of Engineering Electrical Mechatronics Signature a Name of S
19. XES APPENDIX TITLE PAGE A Source Code for Omni Directional Line Following 51 Mobile Robot CHAPTER 1 INTRODUCTION 11 Project Background Omni directional is described as the ability of a system to move instantaneously in any direction from any configuration Omni directional mobile robot has many advantages compared to ordinary mobile robot in term of its movement These abilities can overcome the challenges in everyday life It can move in any direction without having to turn relative to its base For example to move sideways a differential drive mobile robot can turn 90 degrees either to left side or right side Many design of omni directional have been proposed nowadays because of its ability to move in special directions This mobile robot has three degrees of freedom i e two dimensional linear motions and one dimensional rotational motion There are three universal wheels mounted along the edge of the robot chassis 120 apart from each other and each wheel has a set of passive rollers aligned with its rim Because of its special mechanism the robot is able to simultaneously rotate and translate Omni directional line following mobile robot is a mobile robot that has the ability to move in omni directional while follow the line assign to it as it path This mobile robot consists of 3 transwheels attached to the mobile robot base It has sensors to detect the given line and make it possible to follow the line 1 2 Probl
20. ack line 51 5 3 Limitation The mobile robot can detect cross junction only Otherwise it will move in normal line following The mobile robot has to detect the junction condition first and then it will process the next movement Lastly the movement is already assigned in the programming based on the path given So to move in other path I have to reprogram based on the new movement I want 5 4 Recommendation For future development it is recommended to use 4 transwheels design instead of 3 transwheels design Using 4 transwheels design its movement is more stable Moreover it is easier to find the movement algorithm Another recommendation is to put position sensor like compass or gyro sensor So this mobile robot has a reference relative to its base To move it doesn t have to rotate but only translate with respect to degree of the given point 52 REFERENCES 1 Jefri Efendi Mohd Salih Mohd Rizon Mohd Juhari Sazali Yaacob and Abdul Hamid Adom A Design of Omni Directional Mobile Robot Bachelor Thesis KUKUM 2006 2 Mohd Solehin Bin Shamsudin Multi Directional Mecanum Robot Bachelor Thesis Universiti Teknologi Malaysia 2007 3 Naveen Suresh Kuppuswamy Se Hyoung Cho Daniel Stonier Sung Lok Choi and Jong Hwan Kim Design of an omni directional robot for FIRA ROBOSOT Korea Advance Institute of Science and Technology 2006 4 Muhamad Nabil bin Mansor The Omni Directional Writobot Bachelor Thesis Universiti Te
21. by the end of this research The Omni Directional Line Following Mobile Robot able to move in omni directional and follow the black line given 50 5 2 Problem During completing Omni Directional Line following Mobile Robot there were several problems occurs First problem is to define omni directional movement Because the movement is depending on the total vector by each transwheels I have to find the movement algorithm I have difficulties because of the unique position of transwheels which is 120 apart I take more time to find the algorithm I need to try and error until I get the right movement Last problem is to place the IR sensor so it will detect the black line and follow the black line Total of 12 pair IR sensor is used in order to enable the line following ability The problem is not on the line following movement but the main problem is how it will detect the line and respond by moving in omni directional From 12 pair of sensor I divided it into 3 set of sensor each set will have 4 pair of IR sensor Based on the 3 set of IR sensor first idea I make it in triangular shape But it is not effective since I can t make it to move in omni directional So I do the second idea which is in square shape Because I only have 3 set of sensor so the square shape is incomplete I remove the IR sensor at the bottom The sensor placement can be referred at Figure 3 4 The sensor can detect the junction and can follow the bl
22. cal structure of the mobile robot base The designing work was done by using SolidWorks software The design includes the base transwheels and the DC geared motor Continuous adaption and improvement was made alongside this step Figure 3 2 shows the plan bottom and side view of the mobile base using the SolidWorks software a Plan view b Bottom view 19 on c Side view Figure 3 2 View of mobile base After that main circuit was design by using Proteus software The circuit was made according to the schematic drawn earlier Later the software part was started whereby the C programming language was written in MPLAB IDE software The following step is the most important stage which is the integration between the hardware and software that were done earlier The validity and feasibility of the programming codes were tested and evaluated by trial and error method Finally the system was upgraded and improved to better the overall performance of the omni directional line following mobile robot 3 1 Hardware and Mechanical Design The mechanical design of the base of omni directional line following mobile robot was first being developed in FYP 1 Figure 3 3 below shows picture of different views of the mobile robot Plan View Front View Back View Left View Right View Bottom View The mobile robot base was made by 2 mm thick aluminium and radius
23. desired direction without changing of the wheels themselves Figure 2 8 shows the force vector of the mecanum wheel while Figure 2 9 shows the design of omni directional mobile robot Figure 2 8 Force vector of mecanum wheel Figure 2 9 Omni directional mobile robot 16 2 4 Summary of Chapter 2 The literature review done in this chapter gives more knowledge on the omni directional movement There are two types of special wheels and the design construction of the wheels From past projects I also discovered the advantages and the disadvantages of this type of mobile robot Their strengths and weakness are compared and analyzed to discover the most appropriate specification and features to be met in this project CHAPTER 3 METHODOLOGY Figure 3 1 shows the steps taken to develop the omni directional line following mobile robot Literature Mechanical Idea amp Concept E gt Review amp Design amp Research Construction Hardware amp Software Integration Circuit Design amp Making Testing amp System Upgrade Implementation amp Improvement Figure 3 1 Flow chart of methodology 18 The idea comes from the earlier line following mobile robot This project improves the line following mobile robot by using the transwheels that has the ability to move in omni directional Literature review on past project was done in the previous chapter The next step was designing and implementing mechani
24. em Statements Current mobile robot use conventional wheels to move It has to turn its mobile robot base to turn either to the left or right It takes more times and spaces to move the mobile robot base to the desired place These problems can be solved by using an omni directional mobile robot This mobile robot doesn t have to turn its body respective to the direction of the desired place This kind of movement is more stable and easier to move without changing the base This mobile robot operates autonomously So it will not require someone to control its movement Because of its mobility it will have many applications either in home industrial or other area 1 3 Objectives of Project The main objective of this project is to design and construct a mobile robot with an ability to move in omni directional The mobile robot is made by 2mm thickness aluminium 3 transwheels are used so that it will move in omni directional Each transwheel is driven by a DC geared motor Second objective is to enable line following ability of this mobile robot IR sensor is used to detect the line 12 set of IR sensor is used so that it can sense the line that I have assigned 1 4 Scopes of Project The scopes of this project are outlined as following 1 Design and construct omni directional mobile robot using the transwheels 2 Moving in fully omni directional way 3 Omni directional robot able to detect and follow the given line track 1 5
25. ess time to reach the destination compare to normal movement Table 4 2 shows the time taken of the mobile robot to reach the destination in omni directional and the normal movement Table 4 2 Time Taken to Reach the Destination Reading Omni Directional s Normal s 1 5 59 6 85 2 5 41 6 74 3 5 89 7 32 4 5 33 6 91 5 5 74 7 01 Average 5 59 6 97 Based on the result it is proven that omni directional takes less time to reach the destination based on its ability to turn relative to the robot base The smoothness of the omni directional movement makes it more stable than the normal movement 48 4 3 Summary of Chapter 4 This chapter discuss on the achievement of the Omni Directional Line Following Mobile Robot This chapter discuss on every aspect which are hardware design and line following feature To make it clear on what is omni directional movement I have compare with the normal line following Based on the explanation of both omni and normal line following omni directional movement is more stable since it can move in any direction without having to turn relative to the robot base CHAPTER 5 CONCLUSION AND RECOMMENDATION 5 1 Conclusion This project had effectively move in omni directional movement and at the same time can track black line and follow the black line in particular direction that has been assign to It can be concluded that all the objectives in Chapter 1 are achieved
26. eting this project Furthermore I would like to thank my friends especially for my course mate for providing some tools and facilities I need for this project Also to the technicians of the laboratory that helps me to build my robot base Their support helps to complete my project smoothly Last but not least I would like to express my appreciation to anybody who directly or indirectly has contributed to the success of this project ABSTRACT A variety of designs of mobile robot have been developed in recent years in order to improve their omni directional mobility and practical applications Omni directional mobile robot has vast advantages over conventional design likes differential drive in term of mobility in congested environments The main purpose of this research is to design develop and implement an Omni Directional Line Following Mobile Robot with transwheels for autonomous navigation Using these transwheels the mobile robot is provided with three degree of freedom DOF mobility In this project microcontroller PIC16F777 is used as the brain of the robot to control the robot s movements where all data is processed To move in omni directional 3 transwheels are used The three transwheels are driven by three DC Geared motor independently IR sensors are used to detect the line MPLAB IDE is used to write the source code and then generate the HEX file The HEX file is then flashed into the PIC using the USB Programmer Experime
27. gt gt gt gt gt gt gt gt gt gt gt gt gt gt void m stop void void Im_run unsigned char dir void rm_run unsigned char dir void bm run unsigned char dir void clockwise void void anticlockwise void void delay unsigned long data void line_follow1 void void line_follow2 void void line_follow3 void void omnil void void normall void void forward 1 void void left1 void void right1 void void sharpleft1 void void sharpright1 void void forward2 void void left2 void void right2 void void sharpleft2 void void sharpright2 void void forward3 void void left3 void void right3 void void sharpleft3 void void sharpright3 void main function program void main void setup ADC ADCONI 0600001111 set YO input output main fucntion of the 55 TRISA 0600111100 TRISB 0b00000011 TRISC 0b00000000 TRISD Ob11111111 PORTA 0 PORTB 0 PORTC 0 PORTD 0 PORTE 0 Setup up PWM operation PR2 255 CCP1CON 0600001100 CCP2CON 0600001100 CCP3CON 0600001100 T2CON 0000000100 Imspeed 0 rmspeed 0 bmspeed 0 program start while 1 if buttonl 0 it 1 plus one if i i 0 reach three set it back to zero while button1 0 delay 10000 56 select mode Nocal variable i when local variable
28. ile robot were achieved successfully The mobile robot is able to move in omni directional and able to track the black line made of 17 mm width black wire tape By omni directional movement the mobile robot doesn t have to rotate its base when go through the junction Figure 4 2 shows the step on how the mobile robot follows the line in omni directional movement 44 Figure 4 2 Step on How Mobile Robot Follows Line in Omni Directional Movement 45 4 2 2 Normal Line Following The mobile robot also can do the normal line following Using the normal line following the mobile robot needs to rotate its base when go through the junction To make it simple Figure 4 3 shows the normal line following features Figure 4 3 Step on How Mobile Robot Follows Line in Normal Movement 46 42 3 Comparison between Omni Directional and Normal Movement As mention before in omni directional movement the mobile robot doesn t have to rotate its base with respect to the direction it will move But in normal movement it has to rotate its base with respect to the direction it will move Figure 4 4 will explain more about the comparison between omni directional and normal movement a Omni Directional Movement b Normal Movement Figure 4 4 Comparison between Omni Directional and Normal Movement 47 When comparing in term of time taken to reach the same destination and path omni directional movement take l
29. knologi Malaysia 2007 5 Hsu Chih Huang Chia Ming Chen and Tung Sheng Wang Omni Directional Mobile Home Care Robot Department of Electrical Engineering National Chung Hsing University 2006 6 Jun Ming Kuang Ming Liu and Xiang Lin Moving Target Tracking of Omni Directional Robot with Stereo Camera Department of Electrical and Computer Systems Engineering Monash University Australia 2006 7 PIC16F777 Microcontroller User Manual 2006 8 L298 datasheet 2000 9 http www youtube com 10 http www wikipedia org APPENDIXES 53 APPENDIX A Source Code for Omni Directional Line Following Mobile Robot include lt pic h gt configuration __CONFIG 0x3FA2 __CONFIG Ox3FBC unsigned char i 0 shift 0 int j 0 unsigned int k 0 define define button 1 RBO define button2 RBI define senl RDO define sen2 RD1 define sen3 RD2 define sen4 RD3 define sen5 RD4 sensor array back motor sensor array left motor 54 define sen6 RD5 define sen7 RD6 define seng RD7 define sen9 RA2 sensor array right motor define sen10 RA3 define sen1 1 RA4 define sen12 RAS define led1 RB6 define led2 RB7 define Imspeed CCPRIL define Imotor1 RCO define Imotor2 RC3 definermspeed CCPR2L define rmotorl RC4 define rmotor2 RC5 definebmspeed CCPR3L define bmotor1 RB3 define bmotor2 RB4 function prototype gt gt gt gt gt gt gt gt gt gt gt gt gt
30. ment while stepper motor used to rotate the wheel to move the robot To move the marker pen up and down writobot uses a computer CD drive that has been modified This Writobot moves in omni directional by using the conventional wheels design Figure 2 5 shows the design of omni directional Writobot Figure 2 5 Omni directional Writobot The disadvantage of this project is higher cost because each leg needs 2 motors which are servo motor and stepper motor 12 2 32 Omni Directional Mobile Home Care Robot This project is design by a group of Hsu Chih Huang Chia Ming Chen and Tung Sheng Wang from Department of Electrical Engineering National Chung Hsing University in 2006 This project also wins the third place in the mobile robot contest The robot provides home care for the disabled and improves their quality of life The disabled person has to grab the article s image in the camera and the system directs the platform and arm to pick up the object This robot uses 3 transwheels design in order to move in omni directional The transwheels are controlled by three servo motors independently The robot used its network camera to detect image and robot arm to pick up objects Figure 2 6 shows the figure of omni directional mobile home care robot Figure 2 6 Omni directional mobile home care robot 13 The disadvantage of this robot is it can t rotate the transwheels continuously because it is driven by the servo motor
31. nts were performed to analyze the motion characteristic of the mobile robot motions As the result the Omni Directional Line Following Mobile Robot able to move in omni directional and follow the line in particular direction that has been assign vi ABSTRAK Kepelbagaian rekabentuk robot bergerak telah dibangunkan kebelakangan ini dalam usaha memperbaiki keupayan pergerakannya dan aplikasi praktikal Robot berarah omni mempunyai kelebihan berbanding robot lain yang terbatas kerana keupayaannya bergerak dalam persekitaran yang sesak Objektif utama penyelidikan ini adalah merekabentuk membangun dan mengimplimentasikan robot berarah omni mengikut jalan yang dilengkapi roda transwheels untuk bergerak secara berpanduan Dengan menggunakan tayar transwheels robot bergerak memberikan tiga darjah kebebasan dalam pergerakan Dalam projek ini cip PIC16F777 digunakan sebagai pusat kawalan utama robot untuk mengawal pergerakan robot di mana semua data diproses Untuk bergerak secara omni tiga tayar transwheels digunakan Ketiga tiga tayar transwheels ini dipandu oleh tiga motor arus terus secara berasingan IR sensor digunakan untuk mengesan jalan MPLAB IDE digunakan untuk menulis kod program dan kemudian menghasilkan fail HEX File HEX ini kemudian akan dimasukkan ke cip menggunakan alat program USB Ujikaji telah dijalankan untuk menganalisa ciri ciri pergerakan robot bergerak Hasilnya robot berarah omni mengikut jalan berupaya bergerak secara omni
32. of 110 mm The based consists of 3 transwheels paired with 3 DC geared motor To attach the transwheels and the DC geared motor a custom made coupling is needed so that Figure 3 3 Different View of Mobile Base the transwheels can be driven by the DC gear motor The transwheels are placed 120 apart 21 12 set of IR sensors is placed at the bottom of the mobile robot The IR sensor is used to make the line tracking feature There are 3 pairs of IR sensor Each pair consists of 4 set of IR sensor The sensor is placed at the bottom of the mobile base Figure 3 4 shows the position of the IR sensor Figure 3 4 Position of the IR sensor 22 3 1 1 Transwheels The Transwheel s unique design contains eight free turning rollers perpendicular to the axle arranged around the Transwheel periphery This distinct design combined with the rotation of the wheel body provides the ability to move in any direction without having to turn relative to the robot base By using the transwheels the mobile robot can execute a single sideways motion and further can easily track a moving object while maintaining a required orientation with respect to it The advantages of mobile robot using the transwheels are allowing continuous translation and rotation in any direction in competitive high speed environments Figure 3 5 shows the picture of the transwheels Te WWW CYTRON COM MY Figure 3 5 Transwheels 23 3 1 2 DC Geared Mo
33. ogramming Design 3 4 Summary of Chapter 3 RESULT AND DISCUSSION 4 1 Final Hardware Design 4 2 Line Following Feature 4 2 1 Omni Line Following 4 2 2 Normal Line Following 4 2 3 Comparison between Omni Directional and Normal Movement 4 3 Summary of Chapter 4 CONCLUSION AND RECOMMENDATION 5 1 Conclusion 5 2 Problem 5 3 Limitation 5 4 Recommendation REFERENCES APPENDIXES 35 40 41 41 43 43 45 46 48 49 49 50 51 51 22 53 72 TABLE 1 6 3 1 4 1 4 2 LIST OF TABLES TITLE Gantt chart Of the Project Schedule for FYP PIC16F777 device Features Hardware Specification Time Taken to Reach the Destination PAGE 28 42 47 FIGURE 2 1 22 2 3 2 4 29 2 6 2 7 2 8 2 9 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 3 12 LIST OF FIGURES TITLE The Mecanum wheel Design of mobile robot using the mecanum wheel 3 transwheels 4 transwheels Omni directional Writobot Omni directional mobile home care robot Moving target tracking of omni directional robot with stereo cameras Force vector of mecanum wheel Omni directional mobile robot Flow chart of methodology View of mobile base Different View of Mobile Base Position of the IR sensor Transwheels A MO SPG 30 20K DC geared motor Block diagram of the circuit design SK40C LiPo Battery PIC16F777 Pin Diagram of PIC16F777 VO Assignation for Main Circuit PAGE 10 11 12 15 15 17 19 20 21 22 23 24 25 26 27 29 29
34. r Testing and troubleshoot Thesis writing FYP2 presentation Thesis compilation b FYP 2 CHAPTER 2 LITERATURE REVIEW 2 1 Introduction Reviewing similar projects done by other researchers can be a guideline to this work The literature review is divided into two parts which are omni directional wheel design and omni directional vehicle 2 2 Omni Directional Wheel Design It is important to choose the right omni directional wheel design in order to move in omni directional As there are many kinds of omni directional wheels design in the market choosing the right type of wheel design based on the requirement and the usage of the mobile robot is important There are two types of omni directional wheel design They are conventional wheels design and special wheels design But this project uses the special wheels design only 2 2 1 A Design of Omni Directional Mobile Robot This is a project group by Jefri Efendi Mohd Salih Mohd Rizon Mohd Juhari Sazali Yaacob and Abdul Hamid Adom from Kolej Universiti Kejuruteraan Utara Malaysia KUKUM on 2006 The project uses Mecanum wheels design Mecanum wheel is based on the principle of a central wheel with a number of rollers placed at an angle of 45 around the periphery of the wheel Depending on each individual and speed wheel direction the
35. re 3 17 Main Circuit Ske Figure 3 18 Motor Driver Circuit 35 Figure 3 19 All Circuit Mounted on Mobile Base 3 3 Programming Design After completing the hardware and the electronic circuit for the robot the attention was shift to programming design of the robot The programming design of the robot is to control its movement in omni directional The completed programs were then programmed into the PIC16F777 microcontrollers Continuous debugging and compilation of the program were needed towards the completion of the programming design of the robot The full programs for both controllers were attached in the appendix of this thesis C language is chosen as the programming language for this project as the memory size needed for C language programming is small and it is extremely easy to 36 understand MPLAB IDE software developed by Microchip was employed to write the C language program For the compilation of the program Microchip s C30 compiler is adopted Figure 3 20 to Figure 3 21 shows the main programming flow chart and line following feature of the omni line following mobile robot Initialization j 0 Sensor Condition wa Line Following 1 Yes Line Following 2 37 Figure 3 20 Flow Chart of Main Program Input from sensor Data analysis Motor speed and Out of position Need to stop Yes direction adjustment Figure 3 21 Flow Chart of Line Following
36. rectional Line Following Mobile Robot In mechanical design part the mobile robot with the specification discussed above was successfully done The types of motor used were also discussed in this part In electronic and circuit design section various electronic components modules and circuits employed in this mobile robot were discussed including IR sensor motor driver L298N and also the main circuit of the robot Finally in programming part the selection for programming tools was determined and programming flow chart for main program and line following of the Omni Line Following Mobile Robot were discussed CHAPTER 4 RESULT AND DISCUSSION 41 Final Hardware Design The final hardware design of the omni directional line following mobile robot is illustrated in Figure 4 1 Figure 4 1 Final Hardware Design 42 The outlook of the omni directional line following mobile robot is very compact The mobile robot is small in size suitable as it function to move anywhere in small area Table 4 1 presented the hardware specification of this mobile robot Table 4 1 Hardware Specification Specification Description Radius 110 mm Height 130 mm Weight 3 0 kg Actuators 3 DC Geared Motors DOF 3 DOF IR Sensor 12 IR sensors 43 4 2 Line Following Feature 4 2 1 Omni Line Following The integration of hardware and software design for omni directional and line following ability for the mob
37. tor MO SPG 30 20K 3 DC Geared Motor were used in order to rotate the transwheels individually The model of the motor is MO SPG 30 20K I bought the motor from Cytron Technologies The rated voltage is DC 12V and maximum current rating is 410mA Additionally it stall current is 1 8 A Furthermore the feasible rated speed at 5200 RPM and rated torque at 5 88mNm were offered by this model of DC geared motor The unit price for this DC geared motor is RM 70 A pair of this product thus costs me RM 210 Figure 3 6 show the picture of a MO SPG 30 20K DC geared motor CYTRON COM MY Figure 3 6 A MO SPG 30 20K DC geared motor 24 3 2 Electronic and Circuit Design The first stage in electronic and circuit design is to understand the requirements of the project and the limitation of various constraints like the level of technology reliability of microcontroller and the complexity of programming codes and interfacing devices Intensive study on electronic components datasheets was then conducted to compare and analyze the advantages and shortcoming of different electronic circuits and devices used by previous project researchers After that the most reliable and suitable circuits were designed and drawn in Proteus software Finally the circuit is made according to the circuit schematic designed Subsections below discussed the design of circuits in detail This project uses PIC16F777 as the main controlling unit and DC geared motor
38. upervisor DR YEONG CHE FAI Date 15 MAY 2011 OMNI DIRECTIONAL LINE FOLLOWING MOBILE ROBOT HASRIL IZHAM B ISMAIL ABU HASSAN A thesis submitted in partial fulfillment of the requirements for the award of the degree of Bachelor of Engineering Electrical Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia MAY 2011 DECLARATION I hereby declare that this thesis entitled Omni Directional Line Following Mobile Robot is the result of my own research except as cited in the references The thesis has not been accepted for any degree and is not concurrently submitted in candidature of any other degree Signature Name of Candidate Hasril Izham B Ismail Abu Hassan Date 10 May 2011 DEDICATION To my beloved friends and family members for their warmest support ACKNOWLEDGEMENT I would like to take this opportunity to express my sincere appreciation to my Final Year Project FYP1 supervisor En Mohamad Amir bin Shamsudin and FYP2 supervisor Dr Yeong Che Fai I would like to thank them for their supervision guidance and support throughout this project Their ideas and suggestions were invaluable assets to me whenever problems arose in the project Besides I would also like to thank my family for giving me financial and mental support They also provide me the tools that I need to complete my project Without their support I would have difficulties during compl
39. ward3 void Imspeed 180 rmspeed 180 bmspeed 240 Im_run 1 rm_run 1 bm run 0 void right3 void Imspeed 0 rmspeed 220 70 bmspeed 220 rm_run 1 bm run 0 void left3 void Imspeed 220 rmspeed 0 bmspeed 220 lm run 1 bm run 0 rm run 0 void sharpleft3 void Imspeed 200 rmspeed 200 bmspeed 200 lm run 0 rm run 0 bm run 0 void sharpright3 void Imspeed 200 rmspeed 200 bmspeed 200 Im run 1 rm_run 1 71 72 bm run 1 delay functions void delay unsigned long data for data gt 0 data 1
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