IRJET- Path Finder with Obstacle Avoidance Robot
0 likes31 views
This document presents a robot that can find a safe path and avoid obstacles. It uses an infrared sensor to detect obstacles in its path. When an obstacle is detected, the robot changes direction to avoid the obstacle and moves towards its destination. The system architecture includes infrared sensors, a microcontroller, and motors. When an obstacle is detected by the infrared sensor, the microcontroller processes the input and redirects the robot using motors controlled by motor drivers, allowing the robot to avoid collisions and safely reach its target location.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 11 | Nov 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 2387
Path Finder with Obstacle Avoidance Robot
Gayatri Deepak Rendalkar1, Apurva Ashok Rendale2, Rutuja Hemant Pandharpatte3,
Pratiksha Suryakant Thikpurle4, Ravikant Appaso Hatgine5
1,2,3,4Computer Science and Engineering, DKTE Society’s Yashwantrao Chavan Polytechnic, Ichalkaranji.
5Professor, Computer Science and Engineering, DKTE Society’s Yashwantrao Chavan Polytechnic, Ichalkaranji,
Maharashtra, India.
----------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - Now a day, there have been many robots
developed for automation and navigation. Robotics is an
emerging technology which reduces the human work. Many
types of robots navigation techniques are available in the
world. The project is to build a robot which find the safe path
planning and avoid obstacle. It has an infrared sensorwhich is
used to sense the obstacles coming in the robot path. Robot
will avoid the obstacles coming in the path and move a
particular direction. An infrared sensor is used to detect
obstacle and send information to the controller and after
processing the input microcontroller redirects robots using
motors which are controlled by motor drivers.
Key Words: Robotics, infrared sensor, obstacle.
1. INTRODUCTION
Nowadays, robots are considered an important
component of society. This is due to the replacement of
humans by robots in basic and dangerous tasks. However,
designing efficient navigation strategies for mobile robots
and ensuring their safety are among the most important
topics in autonomous robotics.
Therefore, the path planning problem is one of the
most interesting and researched topics. The goal of robot
path planning is to find a safe way for a mobile robot. Also
the path must be optimal. In this sense, many Research
works as a solution to the problem of path planning
Proposed in the literature [1-4]. So far, many methods have
been used for the design of mobile robots. In these
strategies, geometric leisure methods such as artificial
potential fields[5-6], Agoraphobic algorithms[7], andvector
field histograms[8-9]. These methods provide a caption
angle to avoid obstacles.
The purpose ofthedevelopedstrategyistosolvethe
problem when the robot is located in the following areas:
How can the robot detect and avoid obstacles and move
between the two obstacles on the shortest path, without the
collision between two obstacles.
Our contribution is to develop a new algorithm for
this Solving robot path planning problems, including
avoiding static obstacles. This planning, also knownasstatic
route planning, offers the benefit of ensuring safety and lack
of routes. Moreover, the proposed algorithm for finding a
collision-free path is characterized by reactive behaviorand
the smooth way. Mobile robots, on the other hand track the
route without hitting obstacles.
2. LITERATURE SURVEY
D. Xin, C. Hua-hua, and G. Wei-kang, “Neural
network and genetic algorithmbasedglobal pathplanningin
a static environment” [1], Global robot planning is an
important issue in a stable environment. In the paper a
method of global path planning based on neural networks
and genetic algorithms is proposed. We created a neural
network model ofatmosphericinformationinthe workspace
for the robot and used this model to establish the
relationship between collision avoidance paths and the
model's output. Then the two-dimensional coding for the
way-points was converted into one-dimensional space, and
the combination of both the collision avoidancepathandthe
shortest distance was integrated into the fitness function.
Duplicate results showed that the proposed method is
appropriate and effective.
Y. Koren and J. Borenstein, “Potential field methods
and their inherent limitations for mobile robot navigation,”
[5], Potential field methods are becoming increasingly
popular in obstacle avoidance applications formobilerobots
and manipulators. Thepotential fieldprincipleisparticularly
attractive because of its variance and simplicity, but a large
number of shortcomings have been identified as problems
with the underlying problem in this theory. Based on
mathematical analysis, this paper presents a systematic
critique of inherent problems. The heart of this analysis is a
different equation that combines robots and environments
into a cohesive system. The issues identified are discussed
qualitatively and theoretically, and are documented, along
with experimental results on actual mobile robot running.
J. Borenstein and Y. Koren, “The vector field
histogram—fast obstacleavoidanceformobile robots,”[8],A
new real-time obstacle avoidance method for mobile robots
has been developed and implemented. This method, called
vector field histogram (VFH), allows detecting unknown
obstacles while simultaneously steering the mobile robot
while avoiding collisions. The VFH method uses a two-
dimensional Cartesian histogramgridasa global model.This
world model is constantly updated with the range data
sampled by the on-board range sensor. The VFH method](https://image.slidesharecdn.com/irjet-v6i11290-200128062835/85/IRJET-Path-Finder-with-Obstacle-Avoidance-Robot-1-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 11 | Nov 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 2388
then uses a two-step data-reduction procedure to calculate
the desired controlled commands of the vehicle. In the first
stage, the histogram is reduced to a one-dimensional polar
histogram created around the transient location of the grid
robot. Each sector in the polar histogram has a value
indicating the density of the polarbarrierinthatdirection.In
the second stage, the algorithm selects the most appropriate
area in all polar histogram regions with low polar barrier
density, and the steering of the robot is aligned in that
direction. The experimental resultsofthe mobilerobotshow
the strength of the VFF method of slow motion and a dense
turbulent obstacle course at an averagespeedof0.60.7m/s.
3. SYSTEM ARCHITECTURE
Fig -1: System Architecture
This system uses several hardware modules to detect
obstacles. The robot changeswhen an obstacle isdetectedby
an IR sensor using the motor, its direction automatically.
4. WORKING
When the robot is moved. This path finder detects
an obstacle using a robotic IR sensor. These IR sensors work
on light. It has one LED for the transmitter and a photodiode
for the other receiver.
When the transmitter transmits a light wave and a
barrier is detected, this light wave is received by the
photodiode. The IR sensor also has a potentiometertoadjust
the barrier and the distance between the sensors.
When the obstacle is detected, the robot changes
direction. This means that when the robot is in front, the
robot will be moved to the right or left or back. This way the
robot avoids obstacles and reaches the destination safely.
REFERENCES
[1] D. Xin, C. Hua-hua, and G. Wei-kang, “Neural network
and genetic algorithm based global path planning in a
static environment,” Journal of Zhejiang University
Science, vol. 6A, no. 6, pp. 549–554, 2005.
[2] C. Yang, H. Jianda, and W. Huaiyu, “Quadratic
programming based approch for autonomous vehicle
path planning in space,” Chinese Journal of Mechanical
Engineering, vol. 25, no. 4, pp.665–673, 2012.
[3] J.-H. Liang and C.-H. Lee, “Efficient collision-free path
Planning of multiple mobile robots system using efficient
Artificial bee colony algorithm,” Advances in Engineering
Software, vol. 79, pp. 47–56, 2015.
[4] A. Hidalgo-Paniagua, M. A. Vega-Rodr´ıguez, J. Ferruz,
and N. Pav´on, “Solving the multi-objective path planning
problem in mobile robotics with a firefly-based
approach,” Soft Computing-A Fusion of Foundations,
Methodologies and Applications, vol.21, no. 4, pp. 949–
964, 2017.
[5] Y. Koren and J. Borenstein, “Potential field methods and
their inherent limitations formobile robot navigation, in
Proceedings of the IEEE International Conference on
Robotics and Automation,pp. 1398–1404, Sacramento,
CA, USA, April 1991.
[6] H. Seki, S. Shibayama, Y. Kamiya, and M. Hikizu,
Practical Obstacle Avoidance Using Potential Field for A
Nonholonomic Mobile Robot with Rectangular Body,” in
Proceedings of the 13th IEEE International Conference on
Emerging Technologies And Factory Automation, pp.
326–332, Hamburg, Germany, 2008.
[7] M. Y. Ibrahim and L. McFetridge, “The Agoraphilic
algorithm:A new optimistic approach for mobile robot
navigation,” in Proceedings of the 2001 IEEE/ASME
International Conference on Advanced Intelligent
Mechatronics Proceedings, pp. 1334–1339, Como, Italy,
July 2001.
[8] J. Borenstein and Y. Koren, “The vector field histogram
Fast obstacle avoidance for mobile robots,” IEEE
Transactions on Robotics and Automation, vol. 7, no. 3,
pp. 278–288, 1991.
[9] B. You, J. Qui, and D. Li, “A novel obstacle avoidance
method for low-cost household mobile robot,” in
Proceedings of the 2008 IEEE International Conference
on Automation and Logistics (ICAL), pp. 111–116,
Qingdao, China, September 2008.](https://image.slidesharecdn.com/irjet-v6i11290-200128062835/85/IRJET-Path-Finder-with-Obstacle-Avoidance-Robot-2-320.jpg)
IRJET- Path Finder with Obstacle Avoidance Robot
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 11 | Nov 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 2387 Path Finder with Obstacle Avoidance Robot Gayatri Deepak Rendalkar1, Apurva Ashok Rendale2, Rutuja Hemant Pandharpatte3, Pratiksha Suryakant Thikpurle4, Ravikant Appaso Hatgine5 1,2,3,4Computer Science and Engineering, DKTE Society’s Yashwantrao Chavan Polytechnic, Ichalkaranji. 5Professor, Computer Science and Engineering, DKTE Society’s Yashwantrao Chavan Polytechnic, Ichalkaranji, Maharashtra, India. ----------------------------------------------------------------------***--------------------------------------------------------------------- Abstract - Now a day, there have been many robots developed for automation and navigation. Robotics is an emerging technology which reduces the human work. Many types of robots navigation techniques are available in the world. The project is to build a robot which find the safe path planning and avoid obstacle. It has an infrared sensorwhich is used to sense the obstacles coming in the robot path. Robot will avoid the obstacles coming in the path and move a particular direction. An infrared sensor is used to detect obstacle and send information to the controller and after processing the input microcontroller redirects robots using motors which are controlled by motor drivers. Key Words: Robotics, infrared sensor, obstacle. 1. INTRODUCTION Nowadays, robots are considered an important component of society. This is due to the replacement of humans by robots in basic and dangerous tasks. However, designing efficient navigation strategies for mobile robots and ensuring their safety are among the most important topics in autonomous robotics. Therefore, the path planning problem is one of the most interesting and researched topics. The goal of robot path planning is to find a safe way for a mobile robot. Also the path must be optimal. In this sense, many Research works as a solution to the problem of path planning Proposed in the literature [1-4]. So far, many methods have been used for the design of mobile robots. In these strategies, geometric leisure methods such as artificial potential fields[5-6], Agoraphobic algorithms[7], andvector field histograms[8-9]. These methods provide a caption angle to avoid obstacles. The purpose ofthedevelopedstrategyistosolvethe problem when the robot is located in the following areas: How can the robot detect and avoid obstacles and move between the two obstacles on the shortest path, without the collision between two obstacles. Our contribution is to develop a new algorithm for this Solving robot path planning problems, including avoiding static obstacles. This planning, also knownasstatic route planning, offers the benefit of ensuring safety and lack of routes. Moreover, the proposed algorithm for finding a collision-free path is characterized by reactive behaviorand the smooth way. Mobile robots, on the other hand track the route without hitting obstacles. 2. LITERATURE SURVEY D. Xin, C. Hua-hua, and G. Wei-kang, “Neural network and genetic algorithmbasedglobal pathplanningin a static environment” [1], Global robot planning is an important issue in a stable environment. In the paper a method of global path planning based on neural networks and genetic algorithms is proposed. We created a neural network model ofatmosphericinformationinthe workspace for the robot and used this model to establish the relationship between collision avoidance paths and the model's output. Then the two-dimensional coding for the way-points was converted into one-dimensional space, and the combination of both the collision avoidancepathandthe shortest distance was integrated into the fitness function. Duplicate results showed that the proposed method is appropriate and effective. Y. Koren and J. Borenstein, “Potential field methods and their inherent limitations for mobile robot navigation,” [5], Potential field methods are becoming increasingly popular in obstacle avoidance applications formobilerobots and manipulators. Thepotential fieldprincipleisparticularly attractive because of its variance and simplicity, but a large number of shortcomings have been identified as problems with the underlying problem in this theory. Based on mathematical analysis, this paper presents a systematic critique of inherent problems. The heart of this analysis is a different equation that combines robots and environments into a cohesive system. The issues identified are discussed qualitatively and theoretically, and are documented, along with experimental results on actual mobile robot running. J. Borenstein and Y. Koren, “The vector field histogram—fast obstacleavoidanceformobile robots,”[8],A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, called vector field histogram (VFH), allows detecting unknown obstacles while simultaneously steering the mobile robot while avoiding collisions. The VFH method uses a two- dimensional Cartesian histogramgridasa global model.This world model is constantly updated with the range data sampled by the on-board range sensor. The VFH method
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 11 | Nov 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 2388 then uses a two-step data-reduction procedure to calculate the desired controlled commands of the vehicle. In the first stage, the histogram is reduced to a one-dimensional polar histogram created around the transient location of the grid robot. Each sector in the polar histogram has a value indicating the density of the polarbarrierinthatdirection.In the second stage, the algorithm selects the most appropriate area in all polar histogram regions with low polar barrier density, and the steering of the robot is aligned in that direction. The experimental resultsofthe mobilerobotshow the strength of the VFF method of slow motion and a dense turbulent obstacle course at an averagespeedof0.60.7m/s. 3. SYSTEM ARCHITECTURE Fig -1: System Architecture This system uses several hardware modules to detect obstacles. The robot changeswhen an obstacle isdetectedby an IR sensor using the motor, its direction automatically. 4. WORKING When the robot is moved. This path finder detects an obstacle using a robotic IR sensor. These IR sensors work on light. It has one LED for the transmitter and a photodiode for the other receiver. When the transmitter transmits a light wave and a barrier is detected, this light wave is received by the photodiode. The IR sensor also has a potentiometertoadjust the barrier and the distance between the sensors. When the obstacle is detected, the robot changes direction. This means that when the robot is in front, the robot will be moved to the right or left or back. This way the robot avoids obstacles and reaches the destination safely. REFERENCES [1] D. Xin, C. Hua-hua, and G. Wei-kang, “Neural network and genetic algorithm based global path planning in a static environment,” Journal of Zhejiang University Science, vol. 6A, no. 6, pp. 549–554, 2005. [2] C. Yang, H. Jianda, and W. Huaiyu, “Quadratic programming based approch for autonomous vehicle path planning in space,” Chinese Journal of Mechanical Engineering, vol. 25, no. 4, pp.665–673, 2012. [3] J.-H. Liang and C.-H. Lee, “Efficient collision-free path Planning of multiple mobile robots system using efficient Artificial bee colony algorithm,” Advances in Engineering Software, vol. 79, pp. 47–56, 2015. [4] A. Hidalgo-Paniagua, M. A. Vega-Rodr´ıguez, J. Ferruz, and N. Pav´on, “Solving the multi-objective path planning problem in mobile robotics with a firefly-based approach,” Soft Computing-A Fusion of Foundations, Methodologies and Applications, vol.21, no. 4, pp. 949– 964, 2017. [5] Y. Koren and J. Borenstein, “Potential field methods and their inherent limitations formobile robot navigation, in Proceedings of the IEEE International Conference on Robotics and Automation,pp. 1398–1404, Sacramento, CA, USA, April 1991. [6] H. Seki, S. Shibayama, Y. Kamiya, and M. Hikizu, Practical Obstacle Avoidance Using Potential Field for A Nonholonomic Mobile Robot with Rectangular Body,” in Proceedings of the 13th IEEE International Conference on Emerging Technologies And Factory Automation, pp. 326–332, Hamburg, Germany, 2008. [7] M. Y. Ibrahim and L. McFetridge, “The Agoraphilic algorithm:A new optimistic approach for mobile robot navigation,” in Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, pp. 1334–1339, Como, Italy, July 2001. [8] J. Borenstein and Y. Koren, “The vector field histogram Fast obstacle avoidance for mobile robots,” IEEE Transactions on Robotics and Automation, vol. 7, no. 3, pp. 278–288, 1991. [9] B. You, J. Qui, and D. Li, “A novel obstacle avoidance method for low-cost household mobile robot,” in Proceedings of the 2008 IEEE International Conference on Automation and Logistics (ICAL), pp. 111–116, Qingdao, China, September 2008.