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

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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)

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

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

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