Software Implementation of Obstacle Detection and Avoidance System for Wheeled Mobile Robot

Nowadays, Wheeled Mobile Robots (WMRs) are built and the control system that used to control them are made by Electronic Engineers. Depend on their desire design of WMR, Technicians made used of Microcontrollers as controlling machines and DC Motors for motion control. Autonomous robotic vehicle guidance for indoor navigation has been developed for Mobile Industrial Robot model. The resulting design will navigate the environs in a building without the need of human intervention. The guidance system consists of infrared sensors for obstacle detection, range determination and avoidance. It can detect the obstacles within the range 10 to 80 cm. This paper represents mainly on software implementation of obstacle detection and avoidance system for Wheeled Mobile Robot. This system consists of infrared sensors and microcontroller. In this system three infrared sensors are used for left, front and right. In this robot system, the input signal is received from sensor circuit and PIC is operated according to the received sensor’s signal. The infrared sensor reading is taken and processed to avoid the obstacles. The 5V power supply is used to operate PIC board and sensor circuit board. The obstacle avoidance algorithm is simply evaluated on PIC 16F877 microcontroller based mobile robot. The type of infrared sensor is GP2D12 distance measuring sensor. The desired goal of this system is to avoid obstacles along its path and to determine the distance. Keywords—Infrared Sensors, Obstacle Avoidance, Microcontroller Based Control System, Robot Navigation, Fuzzy Logic, Mobile Robot.