Path Planning and Obstacle Avoidance Algorithm †Free Samples

Question: Discuss about the Path Planning and Obstacle Avoidance Algorithm. Answer: Introduction Robot is a very essential in many manufacturing industries as it improves the work done by much human labour and also reduces the chances of errors because they are job specific and such errors are inevitable to human, the initial cost of setting up of a robot is high but it will reduce the cost of labour if it starts to work. Some of the distinctive characteristics of a robot include the following: Sensing: Ability to sense its environment by giving it sensors such as light sensor, touch sensor, sonar sensor and chemical sensor, Movement: Ability to move around its environment with a rolling wheel, walking or even propelling. Energy: Ability to power itself, it can be electrical, solar or battery powered. Intelligence: Ability to be smart, through programming, so as to know what it is supposed to do. The robot is a combination of the system containing a control system, sensors, and power supply all working together to perform a task(Bruno Siciliano, 2016, p. 174). The major aim of this proposal is to design an electronic and electrical circuit that is capable of driving and detecting the presence of an obstacle and then commanding a robot to avoid the obstacle management. The moving robot should be able to detect and avoid a potential obstacle on its way and then change the direction of motion accordingly so that its motion is not interfered with(Dilip Kumar Pratihar, 2010, p. 145). The mode of operation should be automatic without any human or manual involvement. The following are some of the components that are used in this design: Photodiodes: These are devices which allow current to flow in one particular direction. The types of diodes that are used in this design are the photodiodes. Motors: It is made to be driven by DC electrical power, the most common types of DC motor are the Brush DC Motor, Brushless DC motor and Coreless DC motor which use both communications internally or externally to create an oscillating AC from DC source(G.N. Roberts, 2006, p. 147). Motor Driver ICs: A driver is an electronic component used to control another electronic device; they are used to regulate the flow of current through a circuit, It performs as a current amplifier because it takes a low current signal and gives a high current signal which is used to drive the motor hence regulating the current in the circuit, the drivers will also regulate the rotation of the motor. When designing the circuit diagram, there is a need of two obstacle sensor since one module may result in unpredictable motor movement and may not assist in smooth diversion or turning of the robot towards a path that is free(Ghangrekar, 2009, p. 174). The diagram below shows a circuit diagram of a single module for the proposed design of an obstacle avoiding the robotic system. A pair of modules will be necessary to the left side and right side of the robotic vehicle. This system is designed to function without special motor driver ICs and without the microcontroller. This means that this system can function without any complex motor driver IC and without any kind of coding. The circuit uses DC motor irrespective of its power, hence an obstacle avoiding vehicle of high power can be made by the use of a similar circuit(Gregor Schner, 2015, p. 245). The IC 555 is designed to function as an IR transmitter and is set to produce a constant frequency of 38 kHz, while the circuit of transistor adjacent is designed as a stage of IR sensor or the stage of the receiver. If the right side module is the first to sense an obstacle in the track, the frequency of 38 kHz produced by 555 IC will be reflected towards the sensor of the adjacent circuit of the receiver. The receiver will trigger the associated transistors instantly such that the ultimate driver transistor is reserved from conducting. Then the motor that is being controlled by this transistor is meant to be situated on the left sideways of the robotic vehicle, which is on the opposite side of the module(Hajime Asama, 2013, p. 196). Likewise, the motor situated on the right side is definitely controlled by the left sideways of the module. Subsequently, when the right-hand side detector of obstacle module triggers, it halts the motor on the left-hand side while the motor on the right side is permitted to move in a normal way. This condition will lead to the robotic vehicle being compelled to take the diversion of the left-hand side which means that the left module begins receiving signals that are stronger and continue forcing the robot to continue stronger on the diversion ongoing until the obstacle is avoided completely(Honghai Liu, 2012, p. 179). The module will then halt receiving the signals of the obstacle and the robot starts moving forward ordinarily on its new pathway. While the other deviation is performed the left side of the module is compelled to become more secluded from the object so that it does not get the chance to hinder the procedure and permit smooth and clean vehicle diversion. Similar procedures are executed in case the left-hand side module senses the obstacle ahead of the module's right side. There is also the presence of stage of disabling circuit in the module that is connected to the right side and the left side modules(Ingemar J. Cox, 2012, p. 249). This stage is incorporated purposely to make sure that both the modules are not triggered at the same time. For example, when the right side module becomes the first to sense an object, it instantly disables the left side module and starts the deviation on the robot on the right. The motors are furnished with gear boxes so that the motion is maintained originally at the level controlled. The complete layout of the fight and left module and the other electrical connections management and components are as shown in the figure below: This is a design of the proposed obstacle avoiding robotic vehicle circuit without using a microcontroller hence the components are affordable as shown in the table below: Component Cost (Dollars) DC Motor Drivers 85 Battery (12V) 47 8 Photodiodes 183 Transistors 19 Connecting wires 0.5 Rubber wheels 0.8 2 IR sensor 140 555 IC 360 2 Motors 112 Total 617.3 Ways of improving the design This design can be improved by incorporating other types of sensors to that it does not only avoid obstacles but as temperature, light, and water. The sensitivity of the robot towards the obstacles can be improved by using powerful sensors that can detect obstacles from a far distance before the vehicle reaches the place(Jadran Lenar?i?, 2012, p. 274). Powerful ICs with higher frequency more than 38 kHz can be used for the faster sensitivity of the robotic vehicle. The components used in designing this obstacle robotic vehicle can be reused to prevent the pollution of the environment. The rubber wheels and connecting wires are environmentally friendly. Batteries cannot be disposed and so they affect the environment negatively. Motors, sensors, ICs, transistors, and diodes should be disposed of properly since they cannot decompose(Honghai Liu, 2012, p. 156). Conclusion The robot is a very essential in many manufacturing industries as it improves the work done by much human labour and also reduces the chances of errors because they are job specific and such errors are inevitable to human. The aim of this project proposal is to design an obstacle avoiding robot without the use of micro controller and coding. The design discussed above meets the all the requirements and is also cheap and simple to design. Bibliography Bruno Siciliano, O. K., 2016. Springer Handbook of Robotics. Michigan: Springer, 2016. Dilip Kumar Pratihar, L. C. J., 2010. Intelligent Autonomous Systems: Foundations and Applications. New York: Springer Science Business Media, 2010. G.N. Roberts, R. S., 2006. Advances in Unmanned Marine Vehicles. Michigan: IET, 2006. Ghangrekar, S. Y., 2009. A Path Planning and Obstacle Avoidance Algorithm for an Autonomous Robotic Vehicle. China: the University of North Carolina at Charlotte, 2009. Gregor Schner, J. S. D. F. T. R. G., 2015. Dynamic Thinking: A Primer on Dynamic Field Theory. California: Oxford University Press, 2015. Hajime Asama, T. F. T. A. I. E., 2013. Distributed Autonomous Robotic Systems 2. Spain: Springer Science Business Media, 2013. Honghai Liu, D. G. R. J. H. Y. L., 2012. Robot Intelligence: An Advanced Knowledge Processing Approach. London: Springer Science Business Media, 2010. Ingemar J. Cox, G. T. W., 2012. Autonomous Robot Vehicles. New York: Springer Science Business Media, 2012. Jadran Lenar?i?, V. P. C., 2012. Recent Advances in Robot Kinematics. Spain: Springer Science Business Media, 2012.