Accelerometer Based Wireless Autonomous Robot

Title Accelerometer Based Wireless Autonomous Robot
Authors Sakib Ibne Farhad, Sayeed Rizvi Zaman, Momsaad Ibn Bari
Semester Fall, 2015

wireless robot controlGoal of our Project was to create such a controllable Remote Control Car which can be controlled with an Accelerometer. The Accelerometer or Gyroscope will sense the tilting angle of the controller module remote and transmit the values through Bluetooth using one ATmega32 MCU. The car will receive the values and then will drive the motors accordingly. There will be three Obstacle sensing module that will find if there is any obstacle in front of the car. If it finds any obstacle it will act accordingly to avoid that.

Our Motor controller part is uses TinyRealTime, So reading the information and setting the value of PWM is parallel. There is no noticeable delay between when a user tilts the remote to issue a command and when car executes the command changing the speed and direction. It was a good decision not to use RF as Bluetooth communication is much more robust although it is little slow then the RF communication. We found the accelerometer quite sensitive. So, the angle calculation from the accelerometer data has fine resolution. Although we did not compare these value to a protector reading, we were less concerned about the accuracy of the measured angles and were mainly focusing on relative angles. Additionally, the quality of the car’s turning could likely be improved, but for our purposes, we found that since a user is constantly monitoring the car and readjusting the way they control the car, our current calculations suffice. In addition, when the accelerometer was mounted onto the white solder less board, the board is not able to be mounted completely flat, thus giving a slight offset in angle of the remote.

The remote was specifically designed so that if the user held the remote at 20 degrees or less in magnitude, the car would not move, because it is hard for anyone to hold the remote flat perfectly. An extra feature to keep the car from randomly moving was a button which when held down, will send the stop command to the