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Analog Wall Following Robot

This is a group project done under the module EN2091 - Laboratory Practice and Projects, Semester 3, Department of Electronic and Telecommunication Engineering, University of Moratuwa.

Introduction

  • Wall following robot is a robot that follows a wall and travels keeping a constant distance from the wall.
  • Wall following is a common task in many robotics competitions.
  • But the interesting point is our project was to build a robot that travels on the centerline between two walls using only analog electronics.
  • That means we couldn’t use microcontrollers according to the guidelines.

IMG-20231206-WA0097

Working Concept

  • Two sharp IR sensors measure the distance from the robot to the side walls.
  • The difference between the sharp IR sensor values is taken as the error signal and fed into a PID control circuit.
  • The PID output signal is fed to the adder and subtractor circuits.
  • The PID output and a comparator circuit generate two PWM signals with varying duty cycles.
  • Then using the motor driver, PWM signals are fed to the left and right wheels.
  • The robot tracks the walls and travels on the centerline between walls.
  • Additionally we added another sharp IR sensor to the front of the robot to control the speed of the robot.
  • The measured distance is compared with a predefined distance and the difference is taken as the error signal.
  • The error signal is fed to a PID control circuit.
  • A PWM signal is generated using the PID output and a comparator circuit.
  • This PWM signal acts as the Base speed of the robot.
  • Consequently the additional sharp IR sensor will vary the car's speed accordingly.

image

Sub Circuits and Tasks

  • Instrumentation Amplifier- Reduce noise in Sharp IR sensor outputs and amplify signals
  • PID circuit- Control the error signal smoothly using feedback
  • Adder & Subtractor- Generate two PWM signals with varying duty cycles according to PID output
    • Motor 1= base speed + PID output
    • Motor 2= base speed - PID output
  • PWM circuit- Generate two different comparator voltages for the two motors
    • Motor 1 duty cycle ∝ base speed + PID output
    • Motor 2 duty cycle ∝ base speed - PID output
  • Voltage Regulator- To get 3.3V and 5V for required parts accordingly
  • Speed Selector- Manually control the base speed

Hardware Specifications

Software Specifications

  • Solid Works
  • Altium Designer
  • Multisim

Solidworks Altium Multisim

Enclosure Design

297237961-194de710-68c9-488a-863e-5720f45de2e3

PCB Design

IMG-20231206-WA0012

PCB

20231201_162731

Team Members

image image

License

  • This project is licensed under the MIT License. See the LICENSE file for details.

For More Information - Project Report