1. 1 Umrer College Of Engineering, Umrer DEPARTMENT OF COMPUTER ENGINEERING VIII SEMESTER 2003-2004 Robo-Pathfinder Projectees Manish M. Khurpade Mayank P. Raghuwanshi Pratik S. Tiwari Narendra N. Pote Suresh D. Rathod Under the Guidance of Miss Mamta P. Wagh Head Of the Department Department of Computer Engineering

2. 2 CONTENT 1. INTRODUCTION 2. PROBLEM DEFINITION 3. SYSTEM REQUIREMENTS 4. PROJECT MODULES 5. FLOW DIAGRAM 6. FLOW CHART 7. APPLICATIONS 8. LIMITATIONS 9. CONCLUSION 10. REFERENCE

3. 3 INTRODUCTION  This project is software & hardware based.  This project is implemented using radio controlled car (FM) as the vehicle platform.  The project consist of the wireless communication between the model and the computer system.  This project performs the following basic operations such as movement control,video capturing, obstacle sensing, autonomous obstacle avoidance.

4. 4 Problem Definition  Which type of Vehicle?  What will be the Power Source?  How to Sense the External Environment?  How to give Control Signals to RP(i.e.Robopathfinder) ?  How to capture the video from RP ?

5. 5 System Requirement HARDWARE REQUIRMENTS  Pentium III 500MHz or higher processor  64MB of system memory  TV Tuner Card SOFTWARE REQUIRMENTS  Microsoft Windows 98 SE/ME/2000  DirectX 8.1 or Higher

6. 6 Project Modules HARDWARE:  Basic Construction  Improvements(SENSORS)  Communication( TRANS-RECEIVER)  Durability & Portability SOFTWARE:  Basic Movement Control  Improved Controls Using Sensors  Audio-Video Feedback  Path Feeding & Tracing  Tele-Autonomous Obstacle Avoidance

7. 7 Hardware Module BASIC CONSTRUCTION:  Choice of Radio Control Car IMPROVEMENTS:  Choice of Sensors COMMUNICATION:  Transmitter And Receiver DURABLE:  Replacing Relay with IC’s  Use of Power Transistors PORTABLE AND SECURE:  Use of OPTO COUPLER IC (Optical Contact) in Interfacing Circuit.

8. 8 Software Modules BASIC MOVEMENT CONTROLES  Steering of Radio Control Car with Keys or Mouse IMPROVED CONTROLES USING SENSORS  Sensor Data Processing And Control Output AUDIO – VIDEO FEEDBACK  Receiving Audio-Video Signals From CCD camera and Showing it on Monitor PATH FEEDING AND TRACING  Developing Application  Choice of Scaling Factor APPLICATION OF A.I.  Tele Autonomous Obstacle Avoidance

9. 9 Flow Diagram PARALLEL PORT PROTECTION CKT SOFTWARERECEIVER TRANSMITER D.C. MOTOR INPUT Fig. BLOCK DIAGRAM OF VEHICLE MOVEMENT CONTROL 1. VEHICLE MOVEMENT CONTROL

10. 10 2. SENSING UNIT Fig. BLOCK DIAGRAM OF SENSING UNIT

11. 11 3. VIDEO CAPTURING UNIT Fig. BLOCK DIAGRAM OF VIDEO CAPTURE UNIT

12. 12 Flow Chart: IS PASSWORD CORRECT SELECT MODE START EXIT ENTER PASSWORD CHANGE PASSWORD CHANCES LEFT? KEYBOARD CONTROLS MOUSE CONTROLS VIDEO IN AUTO CONTROL EXIT DEMO MODE PATH FEEDING ANDTRACING TELE AUTOMATED OBSTACLE AVOIDENCE START APPLICATION

13. 13 TELE-AUTONOMOUS OBSTACLE AVOIDANCE Principle of Operation  Guiding the robot to a target is performed by the operator in the external loop.  Guiding the mobile robot around unexpected obstacles is performed automatically in the internal loop.  System combines autonomous obstacle avoidance with tele- operation system.  The tele-operator can guide the vehicle even without any visual contact. The vehicle consist of manual as well auto-drive mode.

14. 14 Applications  Mobile robots for hazardous environments (nuclear power plants, waste management).  Planetary vehicles (e.g., Mars rover).  Safe control of manipulator arms in space (e.g.,space-station).  Multiple mobile robots, controlled by one human operator (army).  Submersibles for offshore installation maintenance or mine sweeping.  Additional safety for power wheelchairs operated by severely disabled people.

15. 15 Limitations  Limited range up to 25 meters.  Steady CCD camera on RP.  Fully Charged batteries last for only 2 hours for continuous operation.  Extreme conditions of terrain like sand, mud, rocky mountains etc.

16. 16 Conclusion A system that will efficiently combine the necessary functions of a vehicle guidance system with the technology of collision avoidance in an economic manner is the outcome of our project that will prove very useful in future applications. The purpose is to indicate that this technology could be made portable to other types of vehicles and applications.

17. 17 Reference 1. LET US C 2.C COLUMN COLLECTION 3.GRAPHICS UNDER C - YASHAWANT KANETKAR 4. TURBO C++ - ROBERT LAFORE 5.USING JAVA 2 PLATFORM - JOSEPH L. WEBER 6.JAVA COMPLETE REFERENCE - PATRICK & HERBERT 7.JOURANALS & MAGAZINES