The Controlling of Mobile Robot Based on ARM9
Contents
1. Table 1 Table of Result Analysis Error percentage Distance error in cm Shown distance in cm Actual distance in cm Actual Distance is the trigger which is done by the user the same can be calibrated in the program used for movement of Robot Shown Distance is displayed in LCD of the Robot and at the Controller side Distance error is the subtraction of actual distance and shown distance To calculate the distance error use below formula Distance error Actual distance Shown distance Distance error percentage is to calculate the distance error percentage use below formula shown distance Distance error x 100 actual distance IV CONCLUSION It can be realized that this project employ fewer resources stable performance lower cost low power and less area occupancy compared to the previous Robot systems The maximum obstacle detection coverage is 254 inches 645 16cm A proto type of The Design of PC System for Mobile Robot Based on ARM9 has been designed and developed using MINI 2440 development board which replaces the PC system in the previous work and this project provides the complete solution to control the movement of the robot and detection of the obstacle V ACKNOWLEDGMENT I acknowledge Dr V Venkateswarlu Principal Technologies for his guidance and suggestion UTL VI APPENDIX A The MINI2440 development board is a 100 x 100 mm board equipped with a wide variety of2. Li Sih Shen and Zong Han Li Design and Implementation of an Embedded Home Surveillance System by Use of Multiple Ultrasonic Sensors Design and Implementation of an Embedded Home Surveillance System by Use of Multiple Ultrasonic Sensors VOL 56 PP 119 124 NO 1 FEBRUARY 2010 Zhen Wang The Design of a Speed Regulator of DC motor Based on TMS320LF2407A and AT89C51 VOL 2 PP 121 126 NO 1 December 2010 Luo Genghe Guo YanLing and Yan Jie The Communication Interface Design of AT89C51 Preparation Robot Based on Serial IEEE Intenational paper VOL 2 PP 19 25 NO 1 November 2011 Endrowednes Kuantama Leonardy Setyawan and Jessie Darma Robogotchi on Emoticon Robot Measurement Instrumentation and Sensor Handbook CRCnet VOL 2 PP 90 94 NO 2 December 2011 24 ISSN 2278 3075 Volume 1 Issue 3 August 2012
3. an Wang and Xuhui Wang The Design of PC System for Mobile Robot Based on ARM9 International Conference of Information Science amp Engineering PP 292 295 2010 Luca Bascetta and Paolo Rocco Revising the Robust Control Design for Rigid Robot Manipulators IEEE TRANSACTIONS ON ROBOTICS VOL 26 PP 180 187 NO 1 2009 Yong Zhang Brandon K Chen Xinyu Liu and Yu Sun Autonomous Robotic Pick and Place of Micro objects IEEE Transactions On Robotics VOL 26 PP 200 207 NO 1 FEBRUARY 2010 MINI 2440 user s manual 2004 Andreas Kolling and Stefano Carpin Pursuit Evasion on Trees by Robot Teams IEEE TRANSACTIONS ON ROBOTICS VOL 26 PP 32 47 NO 1 FEBRUARY 2010 Andreas Muller Consequences of Geometric Imperfections for the Control of Redundantly Actuated Parallel Manipulators IEEE TRANSACTIONS ON ROBOTICS VOL 26 PP 21 31 NO 1 FEBRUARY 2010 Samsung S3C2440A User s manual 2004 Torsten Kroger and Friedrich M Wahl Online Trajectory Generation Basic Concepts for Instantaneous Reactions to Unforeseen Events IEEE TRANSACTIONS ON ROBOTICS VOL 26 PP 94 111 NO 1 FEBRUARY 2010 Matthew Baumann Simon L eonard Elizabeth A Croft and James J Little Path Planning for Improved Visibility Using a Probabilistic Road Map IEEE TRANSACTIONS ON ROBOTICS VOL 26 PP 195 200 NO 1 FEBRUARY 2010 Data sheet of lv maxsonar ezl and Data sheet of LCD 16x2 Ravinder S Dahi
4. back and check is any key is pressed Is key 0 pressed means it transmit data F to robot side through Zigbee if F data is received then it display received data after data is received then go back and check if any key is pressed If key 0 is not pressed then go to next step Step 4 Is key 1 pressed means it transmit data B to robot side through Zigbee if B data is received then it display received data after data is received then go back and check if any key is pressed If key 1 is not pressed then go to next step Stan Ngee 3 Instialize senal port to 9600 baudrate N ae Is any key sy pressed E be es Transmit Q2 F Read Port NO OY a a Z Isdata Na ean Fs a Transmit n ecsved Pa Iskey 2 aes 4 a F t Display received Transmit data QAER International Journal of Innovative Technology and Exploring Engineering IJ TTEE ISSN 2278 3075 Volume 1 Issue 3 August 2012 5 Is key 2 pressed means it transmit data L to robot side through Zigbee if L data is received then it display received data after data is received then go back and check if any key is pressed If key 2 is not hnr cial pressed then go to next step 2 clack wise Move motor 1 clock wise C Design of Movement of Robot ace motor 2 The flow chart in figure 2 briefly explains about the de
5. by plan and decision The PC system is another power consumer so it is much more significant to design a low power PC system However at present the PC system for mobile robot usually uses common computer but in this Project the MINI 2440 development board will act like a PC Based on the Structure of the original robotic pneumatic systems sensors and motor control circuits we have designed the control system based on AT89C51 microcontroller to achieve the control of the manipulator to improve the MCU applications in industrial production The design of intelligent robot is based on ARM microprocessor and AT89C51 microcontroller which control Two wheel drive robot The design of the intelligent robot includes system design the hardware design and software design The control of robot is done by programming in C amp the programme is executed in Fedora environment and controlled using buttons of MINI2440 development board The movement of robot is done by programming in C amp ported in AT89CS51 Ability of the computer to think similar to the human brain is called Artificial intelligence The PC system is another power consumer so it is much more significant to design a low power PC system Intelligent robot is characteristic of flexible design accurate control and stable operation Manuscript received on August 2012 Roopashree S S VLSI Design and Embedded Systems Visveswaraiah Technological University UTL Tech Ltd VTU Extn C
6. code mode which transmits the image data to the SDRAM in YCbCr4 2 0 or 4 2 2 format C LV MaxSonar EZ1 Sensor The ultrasonic sensor is used find the obstacle If any obstacle in front of the sensor it detects the obstacle in all the directions and sends the information to the AT89C51 then 89C51 sends the Distance between obstacle and robot and displayed on the ARM9 processor board through Zigbee The operating voltage is from 2 5V 5 5V power the LV MaxSonar EZ1 provides very short to long range detection and ranging in an incredibly small package The LV MaxSonar EZ1 detects objects from O inches to The Controlling of Mobile Robot Based on ARM9 254 inches Information D L293D L293D is a dual H Bridge motor driver So with one IC we can interface two DC motors which can be controlled in both clockwise and counter clockwise direction and if you have motor with fix direction of motion the you can make use of all the four I Os to connect up to four DC motors L293D has output current of 600mA and peak output current of 1 2A per channel In this project two motors are used to control the movement of robot 6 45 meters and provides sonar range Motor Power S3 S1 MOTOR Motor Ground Figure 2 H Bridge Motor driver H Bridge is also known as Full Bridge Basically there are four switching elements in the H Bridge as shown in the above figure When these switches are turned on in pairs motor changes
7. its direction accordingly Like if we switch on S1 and S4 then motor rotate in forward direction as current flows from power supply through the motor coil goes to ground via switch S4 E Robot Robot is defined as mechanical design that is capable of performing human tasks or behaving in a human like manner The robot contains a programmable device to control the operation and perform a particular task Robot performs a flexible but restricted number of operations They are widely used in industrial applications travelling to remote place and mining area related applications The sensor is fixed to the robot This device will sence the happenings in and around the robot and it provides the signals to the controller with relevant information so that the controller can decide the task to be performed The controller functions as the brain of the robot It is performed in such a way that depending on the instruction given by the user it controls the functioning of the robot The DC motors are used to make the movement of the robot in various directions and they are activated by the sensors Ill SYSTEM SOFTWARE DESIGN The software design of the system consists of two modules one is controlling of the robot and other one is movement of robot The project is implemented by using MINI 2440 development board amp Robot The controlling of robot is done by programming in C amp the programme is executed in Fedora environment and contro
8. International Journal of Innovative Technology and Exploring Engineering IJ TTEE ISSN 2278 3075 Volume 1 Issue 3 August 2012 The Controlling of Mobile Robot Based on ARM9 Roopashree S S Manjunath Lakkannavar Abstract In this proposed work the robot is built using two dc motors for the movement which is administered by AT89C51 Microcontroller the obstacle is detected by ultrasonic sensor the controlling of the robot is done by using the resources of MINI 2440 development board The application of this system can be implemented at archeological survey place of natural disaster and industrial applications The previous system of Mobile robot which relies on PC System to coordinate the whole resources in order to achieve advanced arithmetic among different module and to realize intelligent behavior just as human beings by plan and decision In order to overcome the hitch in the previous system this work is proficient where it is stable and reliable with low power tiny volume and high integration Keywords ARM9 L293D LCD MINI 2440 ultrasonic sensor Linux I INTRODUCTION This paper The PC System of mobile robot is equal to the brain of Mobile robot which is the physical basis to reflect the intelligence of mobile robot Usually Mobile robot relies on PC System to coordinate the whole resources in order to achieve advanced arithmetic among different module and to realize intelligent behavior just as human beings
9. connectors interfaces and ports ARM is a 32 bit reduced instruction set computer RISC instruction set architecture ISA developed by ARM Holdings It was named the Advanced RISC Machine and before that the Acorn RISC Machine The ARM architecture is the most widely used 32 bit ISA in numbers produced Originally conceived by Acorn Computers for use in its personal computers the first 23 ARM based products were the Acorn Archimedes range introduced in 1987 The relative simplicity of ARM processors makes them suitable for low power applications As a result they have become dominant in the mobile and embedded electronics market as relatively low cost small microprocessors and microcontrollers In 2005 about 98 of the more than one billion mobile phones sold each year used at least one ARM processor As of 2009 ARM processors account for approximately 90 of all embedded 32 bit RISC processors and are used extensively in consumer electronics including personal digital assistants PDAs mobile phones digital media and music players hand held game consoles calculators and computer peripherals such as hard drives and routers The ARM architecture is licensable There are many Companies that are current or former ARM licensees ARM processors are developed by ARM and by ARM licensees Prominent ARM processor families developed by ARM Holdings include the ARM7 ARM9 ARM11 and Cortex REFERENCES 1 Shuangyou Wang Zhi
10. entrre Bangalore INDIA Manjunath Lakkannavar VLSI Design and Embedded Systems Visveswaraiah Technological University UTL Tech Ltd VTU Extn Centrre Bangalore INDIA 741 1403673 20 Il HARDWARE SYSTEM ULTRASONIC SENSOR TFT DISPLAY LCD DISPLAY SERIAL ERIAL _ ZIGBEE KEY PADS ULTRASONIC SENSOR CONTROLLER ROBOT A Mini 2400 The MINI2440 Development Board is based on the Samsung S3C2440 microprocessor Its PCB is 4 layer boarded equipped with professional equal length wiring which ensures signal integrity MINI2440 boards are manufactured in mass production and released with strict quality control On startup it directly boots preinstalled Linux by default There are no extra setup steps or configuring procedures to start the system It is easy for users to get started Anyone with very basic knowledge about the C language can become proficient Friendly ARM Mini 2440 with 400 MHz Samsung S3C2440 ARM9 processor 3 The board measures 100 x 100 mm ideal for learning about ARM9 systems On board 64M SDRAM and NAND Flash 2M NOR flash with preinstalled BIOS 100M Ethernet RJ 45 port powered by the DM9000 network chip The MINI2440 development board currently supports Linux 2 6 29 and WinCE NET 5 0 Final Stage B S3C2440 SAMSUNG S3C2440 uses 16 32 bit ARM920T RISC technology for the core Its main Frequency is 400M Hz and transfers it to the SDRAM under control of the DMA the other is called
11. lled using buttons of MINI2440 development board The movement of robot is done by programming in C amp ported in AT89C51 21 A Implementation of Controlling of the Robot The controlling of robot is done by programming in C amp the program is executed in Fedora environment Fedora formerly Fedora Core is an RPM based general purpose collection of software including an operating system based on the Linux kernel developed by the community supported Fedora Project and sponsored by Red Hat Fedora s flexibility makes it capable of serving as a digital repository for a variety of use cases The Fedora Project s mission is to lead the advancement of free and open source software and content as a collaborative community The movement of robot is done by programming in C amp the program is executed in Keil u Vision In this project it is used to compile the LCD DC motor Zigbee interfacing program with AT89C51 B Design of Controlling of the Robot Figure 3 is the flow chart for Controlling of the Robot initially it checks for the parameter parsing in the command line the object files of Robot Control is executed by using vi editor commands of Linux environment The controlling of robot is done by programming in C amp the program is executed in Fedora environment The design procedure is as follows 1 Initialize serial port 1 to baud rate 9600 2 Is any key is pressed if yes means it will go to next step if no means go
12. sign ztop of Movement of Robot is done by programming in C and the program is executed in Keil u Vision The design procedure is as follows P ae for 1E fi oe a a ag LJ n E motors into Figure 4 Flow chart for Controlling of the Robot 1 After power on wait for 30minutes then initialize LCD for two line mode 2 Initialize microcontroller into UART mode with 9600 baud rate 3 Initially display title of the project on LCD Initialize microcontroller into receiver mode 5 Initially these commands are read then waiting for next command that is F If F is received then will move in forward direction and both motors are rotated in clockwise direction If any obstacle is detected in front of the robot the robot will stop its movement and measure the distance and displayed on LCD then enter into the transmit mode and sends the distance information to controller side through Zigbee If the command F is not received then go to next step 6 Ifthe command B is received motor 1 and motor 2 are rotated in anti clockwise direction for 2seconds and then stop its movement and again go back and initialize microcontroller into receiver mode a MI RESULTS The above truth table shows the actual distance and shown distance in cm between obstacle and Robot The Ultrasonic sensor 1S used to detect the obstacle in all the directions 22 The Controlling of Mobile Robot Based on ARM9
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