Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot
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This document discusses the design and implementation of a reactive robotic system for real-time obstacle avoidance using a subsumption architecture, which allows robots to navigate their environment by coupling perception directly to action. It highlights the limitations of wheeled robots on rough terrain and proposes the use of legged robots with ultrasonic and infrared sensors for better performance. The presented reactive control system is efficient enough to be implemented on low-cost microcontrollers, making it viable for practical applications.
![IJSRD - International Journal for Scientific Research & Development| Vol. 1, Issue 5, 2013 | ISSN (online): 2321-0613
All rights reserved by www.ijsrd.com 1141
Abstract-- in Reactive robotic system, behaviors serves as
the basic building block for robotic actions. A reactive
control system tightly couples perception to action without
the use of intervening abstract representations or time
history. A simple wheeled vehicle is easy in mechanical
design, controlling, and the construction part. But it
doesn’t work efficiently in all kind of surface. On a
rough terrain, it performs poorly. The radius of a wheel
could pass only a certain height of obstacle. To pass
most of the obstacle that it meets, larger wheel radius
need to be designed. In this paper the design &
implementation of Subsumption based architecture, a
reactive control system for real time obstacle avoidance
which is compatible with low cost ultrasonic sensor, infrared
sensors and fast enough to be implemented using
microcontroller based development board is introduced with
a legged robot.
Keywords: Microcontroller, ultrasonic sensor, infrared
sensor, Subsumption.
I. INTRODUCTION
Many applications of robotics involve robot motion. In
particular, an emphasis should be put on obstacle avoidance.
Obstacles may as well be expected or not, a natural
approach may be to make robots to navigate and avoid
obstacles using reactive behavior. [1] The ability to detect
and avoid obstacles in real time is an important design
requirement for any practical application of robot vehicle.
Therefore, a significant number of solutions have been
proposed for this problem. Unfortunately, most of these
solutions demand a heavy computational load, which makes
them difficult, if not impossible, to implement on low cost,
microcontroller based, control structures. So, this paper
proposes the reactive robotic system for obstacle avoidance
relying on low cost ultrasonic sensor, infrared sensors, and
involving a reasonable level of calculations, so that it can be
easily used in real time control applications with
microcontroller. [4]
A simple wheeled vehicle is easy in mechanical design,
controlling, and the construction part. But it doesn’t
work efficiently in all kind of surface. On a rough
terrain, it performs poorly. The radius of a wheel could
pass only a certain height of obstacle. To pass most of
the obstacle that it meets, larger wheel radius need to
be designed. However, this approach is impractical in many
cases.
On the other side, legged robots are more capable of
moving across rough terrain. That’s why the legged
locomotion became a research of interest. But the legged
robots are much more challenging to control as compared
with wheel robots. Each leg consists of at least two motors.
Controlling the one motor for left and right and another
motor for up and down is difficult. An algorithm for walking
must be developed in order the robot to walk. As a result,
legged robots movement must be carefully studied and
be controlled in such way so that it could stand and walk in
a stable fashion.
II. SYSTEM OVERVIEW AND DESIGN
The reactive robot is designed to explore in the environment
by detecting obstacles and avoiding collision based on the
distance measurement information obtained from the
infrared sensors and ultrasonic sensors. This robotic system
is real time obstacle avoiding system due to reactive control
by using Subsumption based architecture. Infrared sensor
senses the obstacle along its path. The Infrared sensors, used
for obstacle avoidance, are connected to the controller via
analog ports. The input signal is received from sensor circuit
and microcontroller is operated according to the received
sensor’s signal.
Fig. 1: Block diagram
The block diagram in fig. 1 gives the brief idea about the
Real Time Obstacle Avoidance in a Reactive Robot. In this
system, the major role is of microcontroller based
development board using which robot is controlled to get
desired output. The interfacing module is used for
programming the microcontroller through personal
computer. The obstacles in the limited environment of robot
are detected by certain obstacle sensing devices such as IR
and Ultrasonic sensors and then sensed signal are given to
the microcontroller for particular behavior control of robot.
The perception of the robot stimulates a particular behavior,
which decides motion of the robot. Actuators are driven by
motor driver. The robotic motion is based on sensed data
about the limited environment, obstacles and other
parameters. The LEDs and Buzzer are used for indicating
Design and Implementation of a Real Time Obstacle Avoiding
Subsumption Controlled Reactive Robot
M.R. Madki1
V.S. Dasmane2
1, 2
Department of Electronics & Telecommunication Engineering
1,2
WIT Solapur, Maharashtra (INDIA)](https://image.slidesharecdn.com/ijsrdv1i5026-140805041733-phpapp02/85/Design-and-Implementation-of-a-Real-Time-Obstacle-Avoiding-Subsumption-Controlled-Reactive-Robot-1-320.jpg)
![Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot
(IJSRD/Vol. 1/Issue 5/2013/026)
All rights reserved by www.ijsrd.com 1142
occurrences of certain events. The microcontroller and
motors are powered by power supply.
A. SYSTEM HARDWARE
This system uses microcontroller based development board
which consists of ATmega2560.
Fig. 2: Microcontroller based board
ATmega2560 based board is interactively programmable
controller, which runs at 16MHz provides a wealth of
hardware features including a 16 MHz crystal oscillator, a
USB connection, a power jack, an ICSP header, and a reset
button. It has 54 digital input/output pins (of which 14 can
be used as PWM outputs), 16 analog inputs, which is
sufficient to control no. of servo motor required for legged
robot. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB
cable or power it with a AC to- DC adapter or battery to get
started.
B. INFRA RED SENSOR
The basic concept of IR (infrared) obstacle detection is to
transmit the IR signal (radiation) in a direction and a signal
is received at the IR receiver when the IR radiation bounces
back from a surface of the object.
Here in the figure the object can be anything which has
certain shape and size, the IR LED transmits the IR signal
on to the object and the signal is reflected back from the
surface of the object. The reflected signal is received by an
IR receiver, which further given to the board for controlling
the actuators of the robot. IR sensors are used when an
obstacle is within a certain distance and for most robots
which only need to know when an obstacle is right in front
of it.
Fig. 3: Infra-Red Sensor
C. ULTRASONIC SENSOR
The ultra-sonic sensors often take the form of a pair of eyes,
because it consists of two parts transmitter and receiver. The
transmitter emits a sound at a defined frequency and the
receiver collects the sound reflected back by obstacles.
Distance to objects is calculated by measuring the time
taken by the sound to return to the receiver. Ultrasonic
sensor is used to detect an obstacle which is at a longer
distance and not within the reach of IR sensor.
Fig. 4: Ultrasonic Sensor
D. SYSTEM SOFTWARE
The following flowchart shows the flow of the program for
the real time obstacle avoiding robots using subsumption
based architecture. For programming of the system a
software compatible with ATmega2560 is used.
The robot first adjusts itself once it is powered on. The
sensors of the robot sense the environment. Then it heads
straight towards the goal. While heading towards the goal if
any obstacle is detected by the sensors of the robot, it
computes the new path which further proceeds towards the
goal. If any obstacle is not detected by the sensors of the
robot, the robot continues heading straight towards the goal.
The robot continues heading towards the goal till it is
visible.
Fig. 5: Microcontroller Based Board
III. SUBSUMPTION BASED CONTROLLING SYSTEM
This robot uses Subsumption architecture, which is type of
reactive control system in robotics. This method divides
behaviors to many levels, where the higher level behavior
have higher priorities too. So it can subsume the lower level
ones as shown in Fig. 6 and Fig. 7. [1]](https://image.slidesharecdn.com/ijsrdv1i5026-140805041733-phpapp02/85/Design-and-Implementation-of-a-Real-Time-Obstacle-Avoiding-Subsumption-Controlled-Reactive-Robot-2-320.jpg)
![Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot
(IJSRD/Vol. 1/Issue 5/2013/026)
All rights reserved by www.ijsrd.com 1143
Fig. 6: Subsumption Based Architecture
The term ‘subsumption’ derives from the idea that higher
levels can subsume the lower levels by suppressing their
outputs as needed. The advantage of this system is that a
robot control systems can be built incrementally, as lower
levels continue to function while higher ones are added on.
The result, according to Brooks, is a development
framework for robotics that offers a large number of
advantages concerning robustness, build ability, and
testability over the approaches employed in traditional or
classical AI. (Brooks, R., 1990) [3]
Fig. 7: Subsumption Based Robotic Control
Subsumption architecture is the result of work by professor
Rodney Brooks [6] and the Mobile Robotics Group at the
MIT Artificial Intelligence Lab. Brooks' subsumption
architecture arose from an attempt to escape the confines of
traditional robot control methods and provides a way of
combining distributed real-time control with sensor-
triggered behaviors.
IV. IMPLEMENTATION OF THE SYSTEM
The robot is designed for detecting obstacles and avoiding
collision based on the distance measurement information
obtained from the sensors using Subsumption architecture, a
reactive control system. Sensors senses the obstacle along its
path, which are interfaced with the microcontroller based
development board which consists of ATmega2560.
The input signal is received from sensor circuit and
microcontroller is operated according to the received
sensor’s signal. The hardware for the project used will be
mainly microcontroller to control all the functionalities of
the robot, sensors, robotic motion parts, indicators etc. The
programming software to program the robot is compatible
with ATmega2560 microcontroller based board.
Overall architecture of reactive robot consists of three major
parts, perceptual, control and action parts. Perceptual part is
composed of sensors, perceptual processes which are
processed asynchronously and concurrently, precedence and
evidence fusion relations through which a robot perceives
the environment. Control part takes charge of invoke
mission or mission transition and it controls behavior
selection or behavior changing. Finally, action part is given
to the actuators of the robot action such as searching and
approaching the goal, avoiding obstacles.
V. CONCLUSION
In this paper, study and design of the obstacle avoidance
system using subsumption architecture, a reactive control
system for real time obstacle avoidance is presented. It is
capable to avoid any kind of static obstacles. This system
demands very low computational load and can be
implemented on low-cost microcontrollers with low cost
sensors.
REFERENCES
[1] Arkin, R.C., Behavior-Based Robotics Cambridge,
MA:
The MIT press, 1998.
[2] Miljković, Z., Vuković, N. and Babić, B.: Mobile
robot
localization in a manufacturing environment, in:
Proceedings of the 3rd International Conference on
Manufacturing Engineering (ICMEN 2008), 01-
03.10.2008, Kallithea of Chalkidiki, Greece, pp. 485-
494.
[3] Pashenkov, N. & Iwamasa, R. One-Chip Solution to
Intelligent Robot Control: Implementing Hexapod
Subsumption Architecture Using a Contemporary
Microprocessor , pp. 93 - 98, International Journal of
Advanced Robotic Systems, Volume 1 Number 2
(2004),
ISSN 1729-8806
[4] J. Borenstein and Y. Koren, "Real-time obstacle
avoidance
for fast mobile robots," IEEE Transactions on
Systems,
Man, and Cybernetics, vol. 9, pp. 1179-1187, 1989.
[5] D. Nakhaeinia, S. H. Tang, B. Karasfi, O. Motlagh,
and A.
C. Kit, "Virtual force field algorithm for a
behavior-based autonomous robot in unknown
environments," in Proc.
Inst. Mech. Eng. Part I-J Syst Control Eng, vol. 225,
2011,
pp. 56-62.
[6] Brooks R. A Robust Layered Control System For a
Mobile
Robot. IEEE Journal of Robotics and Automation.
1986;
2(1): 14 – 23.](https://image.slidesharecdn.com/ijsrdv1i5026-140805041733-phpapp02/85/Design-and-Implementation-of-a-Real-Time-Obstacle-Avoiding-Subsumption-Controlled-Reactive-Robot-3-320.jpg)
Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot
- 1. IJSRD - International Journal for Scientific Research & Development| Vol. 1, Issue 5, 2013 | ISSN (online): 2321-0613 All rights reserved by www.ijsrd.com 1141 Abstract-- in Reactive robotic system, behaviors serves as the basic building block for robotic actions. A reactive control system tightly couples perception to action without the use of intervening abstract representations or time history. A simple wheeled vehicle is easy in mechanical design, controlling, and the construction part. But it doesn’t work efficiently in all kind of surface. On a rough terrain, it performs poorly. The radius of a wheel could pass only a certain height of obstacle. To pass most of the obstacle that it meets, larger wheel radius need to be designed. In this paper the design & implementation of Subsumption based architecture, a reactive control system for real time obstacle avoidance which is compatible with low cost ultrasonic sensor, infrared sensors and fast enough to be implemented using microcontroller based development board is introduced with a legged robot. Keywords: Microcontroller, ultrasonic sensor, infrared sensor, Subsumption. I. INTRODUCTION Many applications of robotics involve robot motion. In particular, an emphasis should be put on obstacle avoidance. Obstacles may as well be expected or not, a natural approach may be to make robots to navigate and avoid obstacles using reactive behavior. [1] The ability to detect and avoid obstacles in real time is an important design requirement for any practical application of robot vehicle. Therefore, a significant number of solutions have been proposed for this problem. Unfortunately, most of these solutions demand a heavy computational load, which makes them difficult, if not impossible, to implement on low cost, microcontroller based, control structures. So, this paper proposes the reactive robotic system for obstacle avoidance relying on low cost ultrasonic sensor, infrared sensors, and involving a reasonable level of calculations, so that it can be easily used in real time control applications with microcontroller. [4] A simple wheeled vehicle is easy in mechanical design, controlling, and the construction part. But it doesn’t work efficiently in all kind of surface. On a rough terrain, it performs poorly. The radius of a wheel could pass only a certain height of obstacle. To pass most of the obstacle that it meets, larger wheel radius need to be designed. However, this approach is impractical in many cases. On the other side, legged robots are more capable of moving across rough terrain. That’s why the legged locomotion became a research of interest. But the legged robots are much more challenging to control as compared with wheel robots. Each leg consists of at least two motors. Controlling the one motor for left and right and another motor for up and down is difficult. An algorithm for walking must be developed in order the robot to walk. As a result, legged robots movement must be carefully studied and be controlled in such way so that it could stand and walk in a stable fashion. II. SYSTEM OVERVIEW AND DESIGN The reactive robot is designed to explore in the environment by detecting obstacles and avoiding collision based on the distance measurement information obtained from the infrared sensors and ultrasonic sensors. This robotic system is real time obstacle avoiding system due to reactive control by using Subsumption based architecture. Infrared sensor senses the obstacle along its path. The Infrared sensors, used for obstacle avoidance, are connected to the controller via analog ports. The input signal is received from sensor circuit and microcontroller is operated according to the received sensor’s signal. Fig. 1: Block diagram The block diagram in fig. 1 gives the brief idea about the Real Time Obstacle Avoidance in a Reactive Robot. In this system, the major role is of microcontroller based development board using which robot is controlled to get desired output. The interfacing module is used for programming the microcontroller through personal computer. The obstacles in the limited environment of robot are detected by certain obstacle sensing devices such as IR and Ultrasonic sensors and then sensed signal are given to the microcontroller for particular behavior control of robot. The perception of the robot stimulates a particular behavior, which decides motion of the robot. Actuators are driven by motor driver. The robotic motion is based on sensed data about the limited environment, obstacles and other parameters. The LEDs and Buzzer are used for indicating Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot M.R. Madki1 V.S. Dasmane2 1, 2 Department of Electronics & Telecommunication Engineering 1,2 WIT Solapur, Maharashtra (INDIA)
- 2. Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot (IJSRD/Vol. 1/Issue 5/2013/026) All rights reserved by www.ijsrd.com 1142 occurrences of certain events. The microcontroller and motors are powered by power supply. A. SYSTEM HARDWARE This system uses microcontroller based development board which consists of ATmega2560. Fig. 2: Microcontroller based board ATmega2560 based board is interactively programmable controller, which runs at 16MHz provides a wealth of hardware features including a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16 analog inputs, which is sufficient to control no. of servo motor required for legged robot. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC to- DC adapter or battery to get started. B. INFRA RED SENSOR The basic concept of IR (infrared) obstacle detection is to transmit the IR signal (radiation) in a direction and a signal is received at the IR receiver when the IR radiation bounces back from a surface of the object. Here in the figure the object can be anything which has certain shape and size, the IR LED transmits the IR signal on to the object and the signal is reflected back from the surface of the object. The reflected signal is received by an IR receiver, which further given to the board for controlling the actuators of the robot. IR sensors are used when an obstacle is within a certain distance and for most robots which only need to know when an obstacle is right in front of it. Fig. 3: Infra-Red Sensor C. ULTRASONIC SENSOR The ultra-sonic sensors often take the form of a pair of eyes, because it consists of two parts transmitter and receiver. The transmitter emits a sound at a defined frequency and the receiver collects the sound reflected back by obstacles. Distance to objects is calculated by measuring the time taken by the sound to return to the receiver. Ultrasonic sensor is used to detect an obstacle which is at a longer distance and not within the reach of IR sensor. Fig. 4: Ultrasonic Sensor D. SYSTEM SOFTWARE The following flowchart shows the flow of the program for the real time obstacle avoiding robots using subsumption based architecture. For programming of the system a software compatible with ATmega2560 is used. The robot first adjusts itself once it is powered on. The sensors of the robot sense the environment. Then it heads straight towards the goal. While heading towards the goal if any obstacle is detected by the sensors of the robot, it computes the new path which further proceeds towards the goal. If any obstacle is not detected by the sensors of the robot, the robot continues heading straight towards the goal. The robot continues heading towards the goal till it is visible. Fig. 5: Microcontroller Based Board III. SUBSUMPTION BASED CONTROLLING SYSTEM This robot uses Subsumption architecture, which is type of reactive control system in robotics. This method divides behaviors to many levels, where the higher level behavior have higher priorities too. So it can subsume the lower level ones as shown in Fig. 6 and Fig. 7. [1]
- 3. Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot (IJSRD/Vol. 1/Issue 5/2013/026) All rights reserved by www.ijsrd.com 1143 Fig. 6: Subsumption Based Architecture The term ‘subsumption’ derives from the idea that higher levels can subsume the lower levels by suppressing their outputs as needed. The advantage of this system is that a robot control systems can be built incrementally, as lower levels continue to function while higher ones are added on. The result, according to Brooks, is a development framework for robotics that offers a large number of advantages concerning robustness, build ability, and testability over the approaches employed in traditional or classical AI. (Brooks, R., 1990) [3] Fig. 7: Subsumption Based Robotic Control Subsumption architecture is the result of work by professor Rodney Brooks [6] and the Mobile Robotics Group at the MIT Artificial Intelligence Lab. Brooks' subsumption architecture arose from an attempt to escape the confines of traditional robot control methods and provides a way of combining distributed real-time control with sensor- triggered behaviors. IV. IMPLEMENTATION OF THE SYSTEM The robot is designed for detecting obstacles and avoiding collision based on the distance measurement information obtained from the sensors using Subsumption architecture, a reactive control system. Sensors senses the obstacle along its path, which are interfaced with the microcontroller based development board which consists of ATmega2560. The input signal is received from sensor circuit and microcontroller is operated according to the received sensor’s signal. The hardware for the project used will be mainly microcontroller to control all the functionalities of the robot, sensors, robotic motion parts, indicators etc. The programming software to program the robot is compatible with ATmega2560 microcontroller based board. Overall architecture of reactive robot consists of three major parts, perceptual, control and action parts. Perceptual part is composed of sensors, perceptual processes which are processed asynchronously and concurrently, precedence and evidence fusion relations through which a robot perceives the environment. Control part takes charge of invoke mission or mission transition and it controls behavior selection or behavior changing. Finally, action part is given to the actuators of the robot action such as searching and approaching the goal, avoiding obstacles. V. CONCLUSION In this paper, study and design of the obstacle avoidance system using subsumption architecture, a reactive control system for real time obstacle avoidance is presented. It is capable to avoid any kind of static obstacles. This system demands very low computational load and can be implemented on low-cost microcontrollers with low cost sensors. REFERENCES [1] Arkin, R.C., Behavior-Based Robotics Cambridge, MA: The MIT press, 1998. [2] Miljković, Z., Vuković, N. and Babić, B.: Mobile robot localization in a manufacturing environment, in: Proceedings of the 3rd International Conference on Manufacturing Engineering (ICMEN 2008), 01- 03.10.2008, Kallithea of Chalkidiki, Greece, pp. 485- 494. [3] Pashenkov, N. & Iwamasa, R. One-Chip Solution to Intelligent Robot Control: Implementing Hexapod Subsumption Architecture Using a Contemporary Microprocessor , pp. 93 - 98, International Journal of Advanced Robotic Systems, Volume 1 Number 2 (2004), ISSN 1729-8806 [4] J. Borenstein and Y. Koren, "Real-time obstacle avoidance for fast mobile robots," IEEE Transactions on Systems, Man, and Cybernetics, vol. 9, pp. 1179-1187, 1989. [5] D. Nakhaeinia, S. H. Tang, B. Karasfi, O. Motlagh, and A. C. Kit, "Virtual force field algorithm for a behavior-based autonomous robot in unknown environments," in Proc. Inst. Mech. Eng. Part I-J Syst Control Eng, vol. 225, 2011, pp. 56-62. [6] Brooks R. A Robust Layered Control System For a Mobile Robot. IEEE Journal of Robotics and Automation. 1986; 2(1): 14 – 23.