<div dir="ltr"><div class="">
<p class="MsoNormal"><i><span style="font-size:24pt"> Automobile based on
virtual path</span></i></p><p class=""><i><br></i></p><p class=""><i><br></i></p><p class=""><i>Abstract</i>— An automobile is based on
virtual path algorithm has been presented in this paper. The paper is useful in
designing a vehicle which moves from one point to another with minimum human
intervention. To achieve this, virtual path concept is used. To design a
virtual path a set of co-ordinates required to reach destination from origin is
calculated. Based on these co-ordinates the automobile takes its own decision
to reach destination. Meanwhile during its operation user can design next path
and calculate the co-ordinates for the same. Hence time required for execution
is saved.</p>
<p class=""><i>Keywords</i>—<i> Graphical User
Interface (GUI), Global Positioning System (GPS), Radio Frequency
Identification (RFID). </i></p>
<h1 style="margin-left:0in;text-indent:0in"><span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>I.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span> Introduction
</h1>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">An autonomous
technology is used here for minimizing the human labor necessary to control the
locomotion of a bot. GPS can be used to locate the destination and find its
path using its navigation system , but the system has indelible error sources
that have to been taken into account when the receiver reads the GPS signal.
Therefore an urged to better accuracy and reliability is presented in this
paper. <strong><span style="border:1pt none windowtext;padding:0in;font-weight:normal;background-image:initial;background-repeat:initial">For generalizing the</span></strong><strong><span style="border:1pt none windowtext;padding:0in;background-image:initial;background-repeat:initial"> </span></strong><strong><span style="border:1pt none windowtext;padding:0in;font-weight:normal;background-image:initial;background-repeat:initial">path, first attempt was made
to correspond it with Line follower which is an autonomous robot</span></strong><span class=""> </span><span style="border:1pt none windowtext;padding:0in;background-image:initial;background-repeat:initial">which pursued
its path from a white area having black line or black area having white line. The
Line Follower Robot ought to encounter appropriate line and preserve its
succession. However it</span><span style="background-image:initial;background-repeat:initial"> always needs a
physical path which is not versatile. In Autonomous Bot the path is virtual and
created by dynamic strings feed by the user. Complicated path are difficult to
implement physically in case of line follower bots, which is overcome in this
paper by giving predefined instructions. In case of RFID based bots controlled
motion is given by the individual RFID tags and need to be given dynamically
which is cumbersome. Hence in this paper a new technique on bot navigation has
been implemented. The radical idea behind the project was to utilize software</span><span style="font-size:12pt;background-image:initial;background-repeat:initial"> </span><span style="background-image:initial;background-repeat:initial">encoding
to overcome the</span><span style="font-size:12pt;background-image:initial;background-repeat:initial"> </span><span style="background-image:initial;background-repeat:initial">shortcomings present in the referenced papers.</span></p>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">The operator
creates a virtual path on the basis of sequence of co-ordinates given to the
bot initially. The co-ordinates are passed as a string parameter in the program
on a laptop. This is achieved by using GUI technology. The co-ordinates
instruct the bot to move along a direction for certain distance as per
requirement. Hence by giving appropriate co-ordinates a complex virtual path
can be created and that too of infinite distance. However, the manual control
of the bot is possible only within a range of 2km. Currently, the three major kinds
of machine locomotion are present, i.e. line follower, line of sight bots and
GPS controlled. However these have certain shortcomings such as, Line follower
has limitation of physical implementation of line (path). GPS bots have less
accuracy and also it is not useful in a closed environment. The project motive
was to design a mechanism which combined best of all three above mentioned
means of locomotion into a single bot, by keeping following parameters in mind.
</p>
<p class="MsoNormal" style="text-align:justify">The features are,</p>
<p class="MsoNormal" style="text-align:justify">1) Self-sufficient,</p>
<p class="MsoNormal" style="text-align:justify">2) Beyond line of sight movement,</p>
<p class="MsoNormal" style="text-align:justify">3) Mass producible and cost
effective.</p>
<h1 style="margin-left:0in;text-indent:0in"><span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>II.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>Ease of Use</h1>
<h2>A.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'"> </span>Working
</h2>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">Each coordinate
in the string has two entities in it, first orientation of the bot followed by
magnitude. The orientation of the bot determines the direction of travel
followed by magnitude which determines the distance to be travelled in that
direction. Such sequence of co-ordinates can thus be used to trace a complex
path as per the operator’s requirement. The core logic utilized here is the
basic speed, distance, and time relationship to create the virtual path for the
bot. </p>
<p class="MsoNormal" style="text-align:justify"></p>
<p class="MsoNormal"><span style="font-size:8pt">Figure 1 Virtual path
algorithm</span></p>
<p class="MsoNormal"><span style="font-size:8pt"> </span></p>
<p class="MsoNormal" style="text-align:justify">Hence, </p>
<p class="MsoNormal" align="left">Speed=Distance/Time (1)</p>
<p class="MsoNormal" style="text-align:justify">Speed = Constant K (2)</p>
<p class="MsoNormal" style="text-align:justify">Distance = Time * Constant K (3)</p>
<p class="MsoNormal" style="text-align:justify">K = ideally surface dependent constant</p>
<p class="MsoNormal" style="text-align:justify"> </p>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">The speed of the
bot is kept constant, and each co-ordinate is an input to software controlled
down counter which determines the time for which the two motor rotates. Thus
with a known value of time the distance the bot travels in a particular
direction can be determined respectively. The bots orientation is changed by
either moving both motors in clockwise (rotate in left) or motors in
anticlockwise (rotate in right) direction. If one motor is in clockwise and
other in anticlockwise then bot move forward else reverse for the other
combination. The bot itself acts as the origin or reference point, hence after
every co-ordinate is executed the position of the bot changes, and hence there
is a shift in origin.</p>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in"> </p>
<p class="" style="margin-left:0.25in"><i>B.<span style="font-style:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'"> </span></i><i>Mathematical
Concept</i></p>
<p class="MsoNormal" style="text-align:justify">Necessary condition for
maintaining constant speed is as follows.</p>
<p class="MsoNormal" style="text-align:justify">P=T*W (4)</p>
<p class="MsoNormal" style="text-align:justify">Where,</p>
<p class="MsoNormal" style="text-align:justify">P=power delivered to the shaft,</p>
<p class="MsoNormal" style="text-align:justify">T=Torque generated by the motor,</p>
<p class="MsoNormal" style="text-align:justify">W= angular velocity of the motor.</p>
<p class="MsoNormal" style="text-align:justify">Differentiating above equation by
torque,</p>
<p class="MsoNormal" style="text-align:justify">Hence,</p>
<p class="MsoNormal" style="text-align:justify">dP/dT = T(dW/dT) +W
(5)</p>
<p class="MsoNormal" style="text-align:justify">For constant speed of tire,
rotational velocity i.e. angular velocity W is to be kept constant.</p>
<p class="MsoNormal" style="text-align:justify">Therefore,</p>
<p class="MsoNormal" style="text-align:justify">dW/dT =0
(6)</p>
<p class="MsoNormal" style="text-align:justify">dP/dT =W=CONSTANT=P (7)</p>
<p class="" style="text-indent:0in"><span style="margin-left:42px;margin-top:14px;width:12px;height:112px"></span>
</p>
<p class="" style="text-indent:0in"> P</p>
<p class="" style="text-indent:0in"> </p>
<p class="" style="text-indent:0in">
</p><table cellpadding="0" cellspacing="0" align="left">
<tbody><tr>
<td width="47" height="5"></td>
</tr>
<tr>
<td></td>
<td></td>
</tr>
</tbody></table>
<p></p>
<br clear="ALL">
<p class="" style="text-indent:0in"><span style="margin-left:27px;margin-top:6px;width:192px;height:12px"></span>
T</p>
<p class="" style="text-indent:0in"> </p>
<p class="" style="text-indent:0in"><span style="font-size:8pt"> Figure 2 Graph of power versus
torque </span></p>
<p class="">To navigate over a steep
inclination the force required to rotate the wheels increase i.e. higher torque
is required. But speed is to be kept constant. Hence, the angular velocity W of
the wheels are to be kept constant. Thus, an increased torque is required which
is delivered from an increase in power supplied to the motor. Ideally, a very
large torque should be produced at very low power consumption to achieve this efficiently.
Hence, ideally dP/dT =W=0 and practically the angular velocity of rotating
wheels should be slow as possible.</p>
<h2>C.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'"> </span>Aloritham</h2>
<p class="MsoNormal"> </p>
<p class="" style="text-align:justify"><span style="font-size:10pt;font-family:'Times New Roman',serif">1.<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="font-size:10pt;font-family:'Times New Roman',serif">Pass
the string of co-ordinates to the robot via laptop using zigbee module.</span></p>
<p class="" style="text-align:justify"><span style="font-size:10pt;font-family:'Times New Roman',serif">2.<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="font-size:10pt;font-family:'Times New Roman',serif">Each
string parameter is used to calculate distance to be travelled in a particular
direction.</span></p>
<p class="" style="text-align:justify"><span style="font-size:10pt;font-family:'Times New Roman',serif">3.<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="font-size:10pt;font-family:'Times New Roman',serif">The
bots operation is read on laptop for real time monitoring purpose. </span></p>
<p class="" style="text-align:justify"><span style="font-size:10pt;font-family:'Times New Roman',serif">4.<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="font-size:10pt;font-family:'Times New Roman',serif">The
direction of bot or its rotation is controlled by rotating the two motors in
the required direction.</span></p>
<p class="" style="text-align:justify"><span style="font-size:10pt;font-family:'Times New Roman',serif">5.<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="font-size:10pt;font-family:'Times New Roman',serif">In
case of an emergency the bot can be controlled using manually using GUI interface.</span></p>
<p class="" style="margin-left:0in;text-indent:0in"><span style="letter-spacing:-0.05pt">TABLE
I. <span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span>motor action <span style="letter-spacing:-0.05pt"></span></p>
<table class="" border="1" cellspacing="0" cellpadding="0" align="right" width="321" style="border-collapse:collapse;border:none;margin-left:6.75pt;margin-right:6.75pt">
<tbody><tr style="height:28.15pt">
<td width="42" valign="top" style="width:31.25pt;border:1pt solid windowtext;padding:0in 5.4pt;height:28.15pt">
<p class="MsoNormal"><b><span style="font-size:8pt">VM1</span></b></p>
</td>
<td width="36" valign="top" style="width:26.7pt;border-style:solid solid solid none;border-top-color:windowtext;border-right-color:windowtext;border-bottom-color:windowtext;border-top-width:1pt;border-right-width:1pt;border-bottom-width:1pt;padding:0in 5.4pt;height:28.15pt">
<p class="MsoNormal"><b><span style="font-size:8pt">VM2</span></b></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:solid solid solid none;border-top-color:windowtext;border-right-color:windowtext;border-bottom-color:windowtext;border-top-width:1pt;border-right-width:1pt;border-bottom-width:1pt;padding:0in 5.4pt;height:28.15pt">
<p class="MsoNormal"><b><span style="font-size:8pt"> D1</span></b></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:solid solid solid none;border-top-color:windowtext;border-right-color:windowtext;border-bottom-color:windowtext;border-top-width:1pt;border-right-width:1pt;border-bottom-width:1pt;padding:0in 5.4pt;height:28.15pt">
<p class="MsoNormal"><b><span style="font-size:8pt"> D2</span></b></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:solid solid solid none;border-top-color:windowtext;border-right-color:windowtext;border-bottom-color:windowtext;border-top-width:1pt;border-right-width:1pt;border-bottom-width:1pt;padding:0in 5.4pt;height:28.15pt">
<p class="MsoNormal"><b><span style="font-size:8pt">DIRECTION</span></b></p>
<p class="MsoNormal"><b><span style="font-size:8pt">(BOT)</span></b></p>
</td>
</tr>
<tr style="height:16.5pt">
<td width="42" valign="top" style="width:31.25pt;border-style:none solid solid;border-right-color:windowtext;border-bottom-color:windowtext;border-left-color:windowtext;border-right-width:1pt;border-bottom-width:1pt;border-left-width:1pt;padding:0in 5.4pt;height:16.5pt">
<p class="MsoNormal"><span style="font-size:8pt">-1</span></p>
</td>
<td width="36" valign="top" style="width:26.7pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:16.5pt">
<p class="MsoNormal"><span style="font-size:8pt">-1</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:16.5pt">
<p class="MsoNormal"><span style="font-size:8pt">Anticlockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:16.5pt">
<p class="MsoNormal"><span style="font-size:8pt">Anticlockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:16.5pt">
<p class="MsoNormal"><span style="font-size:8pt"> Right</span></p>
</td>
</tr>
<tr style="height:19pt">
<td width="42" valign="top" style="width:31.25pt;border-style:none solid solid;border-right-color:windowtext;border-bottom-color:windowtext;border-left-color:windowtext;border-right-width:1pt;border-bottom-width:1pt;border-left-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt">-1 </span></p>
</td>
<td width="36" valign="top" style="width:26.7pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt"> 1</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt">Anticlockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt">Clockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt"> Forward</span></p>
</td>
</tr>
<tr style="height:18.65pt">
<td width="42" valign="top" style="width:31.25pt;border-style:none solid solid;border-right-color:windowtext;border-bottom-color:windowtext;border-left-color:windowtext;border-right-width:1pt;border-bottom-width:1pt;border-left-width:1pt;padding:0in 5.4pt;height:18.65pt">
<p class="MsoNormal"><span style="font-size:8pt"> 1</span></p>
</td>
<td width="36" valign="top" style="width:26.7pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:18.65pt">
<p class="MsoNormal"><span style="font-size:8pt">-1</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:18.65pt">
<p class="MsoNormal"><span style="font-size:8pt">Clockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:18.65pt">
<p class="MsoNormal"><span style="font-size:8pt">Anticlockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:18.65pt">
<p class="MsoNormal"><span style="font-size:8pt"> Reverse</span></p>
</td>
</tr>
<tr style="height:19pt">
<td width="42" valign="top" style="width:31.25pt;border-style:none solid solid;border-right-color:windowtext;border-bottom-color:windowtext;border-left-color:windowtext;border-right-width:1pt;border-bottom-width:1pt;border-left-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt"> 1</span></p>
</td>
<td width="36" valign="top" style="width:26.7pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt">1</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt">Clockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt">Clockwise</span></p>
</td>
<td width="81" valign="top" style="width:60.95pt;border-style:none solid solid none;border-bottom-color:windowtext;border-bottom-width:1pt;border-right-color:windowtext;border-right-width:1pt;padding:0in 5.4pt;height:19pt">
<p class="MsoNormal"><span style="font-size:8pt"> Left</span></p>
</td>
</tr>
</tbody></table>
<p class="" style="margin-left:0in;text-align:justify"><span style="font-size:10pt;line-height:115%;font-family:'Times New Roman',serif"> </span></p>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">Thus, the strings
are given to a counter which rotates the motor for a particular time hence a
required distance. </p>
<p class="MsoNormal" style="text-align:justify">The bot when in operations traces
its path using the instructions fed to it initially, hence self-sufficient.
Also the concept of virtual path is the key in making it move beyond line of
sight. Sort of start and forget system!! Here programming is the key behind the
bots intelligence, and does not make use of unwanted satellite navigation as
such. This helped us to cut down the cost of development and mass production of
this bot in market thus becomes realizable.</p>
<p class="" style="margin-left:0.25in;text-align:justify"><span style="font-size:10pt;line-height:115%;font-family:'Times New Roman',serif"> </span></p>
<p class="" align="center" style="text-align:center"><span style="font-size:10pt;line-height:115%;font-family:'Times New Roman',serif"><span style="font-stretch:normal;font-size:7pt;line-height:normal;font-family:'Times New Roman'">
</span>III.<span style="font-stretch:normal;font-size:7pt;line-height:normal;font-family:'Times New Roman'">
</span></span><span style="font-size:10pt;line-height:115%;font-family:'Times New Roman',serif">AUTOMOBILE STRUCTURE</span></p>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">The automobile
can be divided into several parts:</p>
<p class="MsoNormal" style="text-align:justify"> </p>
<p class="MsoNormal" style="margin-left:38.7pt;text-align:justify"><span style="font-size:11pt;font-family:Symbol">·<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span>Microcontroller ATMEL89S52: <span style="font-size:11pt;color:rgb(51,51,51);background-image:initial;background-repeat:initial">A microcontroller is a
computer present in a single IC which is committed to perform one task and
execute one specific application. </span><span class=""><span style="font-size:11pt;color:rgb(51,51,51);background-image:initial;background-repeat:initial"> </span></span><span style="font-size:11pt"></span></p>
<p class="MsoNormal" style="margin-left:38.7pt;text-align:justify">The Atmel
microcontroller is used in this project because it provides adequate amount of
ports for interfacing with the LCD and L293D. The advantages of using the
microcontroller are cost is less, Size is less, Power consumption is less and
speed is more </p>
<p class="MsoNormal" style="margin-left:38.7pt;text-align:justify"><span style="font-family:Symbol">·<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span>IR Sensor: <strong><span style="font-weight:normal;background-image:initial;background-repeat:initial">It is electronic equipment which is used to feel certain attribute
of its ambience by either emanating and/or recognize infrared radiation. It is
used as an obstacle avoider in this project</span></strong><b></b></p>
<p class="MsoNormal" style="margin-left:38.7pt;text-align:justify"><span style="font-family:Symbol">·<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="border:1pt none windowtext;padding:0in">NRF24L01 UART Module (ZIGBEE
2.4 GHz): <span style="color:rgb(51,51,51);background-image:initial;background-repeat:initial">It </span></span><span style="color:rgb(51,51,51);background-image:initial;background-repeat:initial">is a trans- receiver module which
provides foolproof RF communication at <a href="http://2.4GHz.It">2.4GHz.It</a> is used at the microcontroller
side as the receiver and the other side as the transmitter connected with the
computer through Access Port and </span><span style="background-image:initial;background-repeat:initial">the
MAX232 IC is adopted to adapt the TTL/CMOS logic levels to RS232 logic levels
amid serial communication of microcontrollers with PC.</span></p>
<p class="MsoNormal" style="margin-left:38.7pt;text-align:justify"><span style="font-family:Symbol">·<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span>L293D (Line Driver): <span style="color:rgb(51,51,51);border:1pt none windowtext;padding:0in">It is a dual</span><span style="color:rgb(51,51,51)"> </span><span style="color:black">H-bridge</span><span style="color:rgb(51,51,51)"> <span style="border:1pt none windowtext;padding:0in">motor driver integrated circuit (IC). It is used to control the
rotation of the motor for its movement in forward, backward, left and right.</span></span>
Two L293D motor driver ICs are used to drive the two rear motors of the bot,
hence is a rear wheel drive.</p>
<p class="MsoNormal" style="margin-left:38.7pt;text-align:justify"><span style="font-family:Symbol">·<span style="font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span>Voltage Regulater LM7805: It is a voltage regulator IC to keep the
consistent voltage.</p>
<h1 style="margin-left:0in;text-indent:0in"><span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>IV.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>technical specification</h1>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">Microcontroller
89S51 is the brain of the bot, which stores the hex code for the operation.</p>
<p class="MsoNormal" style="text-align:justify">Two L293D motor driver ICs are
used to drive the two rear motors of the bot, hence is a rear wheel drive.
Zigbee module transfers the instructions wirelessly.</p>
<p class="MsoNormal" style="text-align:justify">A ball bearing type of front
wheel is used to obtain sharp 90 degree turns for maximum precision.</p>
<h1 style="margin-left:0in;text-indent:0in"><span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>V.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>future recommendation </h1>
<h2><span style="letter-spacing:-0.05pt">A.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="letter-spacing:-0.05pt">The autonomous concept applied here can be utilized for
autonomous aerial drones operating on 3-D space.</span></h2>
<h2><span style="letter-spacing:-0.05pt">B.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="letter-spacing:-0.05pt">The concept here is a template on which innumerable
mountings as per application requirement can be carried out.</span></h2>
<h2><span style="letter-spacing:-0.05pt">C.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span></span><span style="letter-spacing:-0.05pt">More advanced coding for variable speed locomotion can
be implemented.</span></h2>
<h2>D.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'"> </span><span style="letter-spacing:-0.05pt">Mine diffuse is
one of the important application and modification recommended by us.</span> </h2>
<h1 style="margin-left:0in;text-indent:0in"><span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>VI.<span style="font-weight:normal;font-stretch:normal;font-size:7pt;font-family:'Times New Roman'">
</span>conclusion </h1>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in">The autonomous
bot developed in this project was developed in order to overcome the various
constraints in locomotion in the existing bots. The project is developed as a
new concept and is purely logic based and not application based. Hence the bot
is basically a template representing new technology in bot movements on which
modifications as per users application is always welcomed.</p>
<p class="MsoNormal" style="text-align:justify;text-indent:0.2in"> </p>
<h5>References</h5>
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<p class=""> </p>
<p class=""> </p>
</div>
<span style="font-size:8pt;font-family:'Times New Roman',serif"><br clear="all">
</span>
<p class="MsoNormal" style="text-align:justify"> </p></div>