Sample Codes

Obstacle Follower Robot with ATmega16 using Analog IR Sensor

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Obstacle follower is one of the most important aspects of autonomous robotics. Obstacle following is a task which is used for detecting the objects placed in the path of your robot or any vehicle and following that obstacle keeping itself at some fixed distance from the obstacle. So, to protect the robot from any physical damages and following it. An obstacle following robot is an intelligent robot, which can automatically sense and follow the obstacle.

In this project, we will learn How to design an obstacle follower robot with AVR ATmega16 microcontroller using Analog IR Sensor. This robot is an automatic robot i.e no manual control is needed. The robot will follow an obstacle keeping itself at a fixed range of distance from the obstacle. Whenever the obstacle stops or there is no obstacle in front of the robot, the robot will stop. The above process continues till the robot finds an obstacle at some fixed range of distance. Here, we will use one analog IR sensor to detect obstacle and to follow it. We will place the analog IR sensor in the front side of the robot and the sensor will be pointing towards the front of the robot. Whenever an obstacle comes in front of the robot, the output of the analog IR sensor changes and this change will be detected by the ATmega16 microcontroller. But the output of the analog IR sensor is analog in nature, so this signal cannot be processed directly by the microcontroller. For this, we will use the ADC of the ATmega16 microcontroller to convert the analog signal to digital value. After converting the analog signal of analog IR sensor to digital value, the ATmega16 microcontroller will compare the sensor value with two reference values- the upper threshold(3V In our case) and the lower threshold(1.5V In our case) value. If the output of the analog IR sensor is within these reference values, the ATmega16 microcontroller will send the forward control signal to the DC motor driver (L293D) of the robot to drive the robot in forward direction and if it is out of these two reference values, the ATmega16 microcontroller will send the stop control signal to the DC motor driver (L293D) of the robot to stop the robot. The above processes of ADC conversion, sensor output comparison and robot control continues forever till the power source is there.

Softwares Required

• AVR Studio 4 Software
• WinAVR 2010 Software
• SinaProg Hex Downloader Software
• USBasp Driver

Hardwares Required

Name	Quantity
AVR Trainer Board-100 with ATmega16	1pc
AVR USB Programmer	1pc
12V, 1A DC SMPS Adaptor	1pc
Analog IR Sensor	1pc
DC Motor Driver	1pc
Robot V 4.0	1pc
1 to 1 Connector-Female to Female	4pc
10 to 10 FRC Female to Female Connector	2pc

Video

Connection Guide

The step-by-step connection guide for Obstacle Follower Robot with ATmega16 using Analog IR Sensor is as follows