BORANG PENGESAHAN STATUS TESIS
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1 UNIVERSITI MALAYSIA PAHANG BORANG PENGESAHAN STATUS TESIS JUDUL: AUTONOMOUS ROBOT SESI PENGAJIAN: 2007/2008 Saya GOW MOH KEE ( ) (HURUF BESAR) mengaku membenarkan tesis (Sarjana Muda/Sarjana /Doktor Falsafah)* ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut: 1. Tesis adalah hakmilik Universiti Malaysia Pahang (UMP). 2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja. 3. Perpustakaan dibenarkan membuat salinan tesis ini sebagai bahan pertukaran antara institusi pengajian tinggi. 4. **Sila tandakan ( ) SULIT TERHAD (Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972) (Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan) TIDAK TERHAD Disahkan oleh: (TANDATANGAN PENULIS) (TANDATANGAN PENYELIA) Alamat Tetap: NO. 50 JALAN BESAR, ZAINAH BINTI MD. ZAIN JOHOL, ( Nama Penyelia ) NEGERI SEMBILAN. Tarikh: 19 NOVEMBER 2007 Tarikh: 19 NOVEMBER 2007 CATATAN: * Potong yang tidak berkenaan. ** Jika tesis ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa/organisasi berkenaan dengan menyatakan sekali tempoh tesis ini perlu dikelaskan sebagai atau TERHAD. Tesis dimaksudkan sebagai tesis bagi Ijazah doktor Falsafah dan Sarjana secara Penyelidikan, atau disertasi bagi pengajian secara kerja kursus dan penyelidikan, atau Laporan Projek Sarjana Muda (PSM).
2 AUTONOMOUS ROBOT GOW MOH KEE This thesis is submitted as partial fulfillment of the requirement for the award of the Bachelor Degree of Electrical Engineering (Control and Instrumentation) Faculty of Electrical & Electronics Engineering Universiti Malaysia Pahang NOVEMBER 2007
3 viii TABLE OF CONTENTS TITLE PAGE TITLE PAGE DECLARATION DEDICATION ACKNOWLEDGEMENT ABSTACT ABSTRAK TABLE OF CONTENTS LIST OF FIGURES LIST OF TABLES LIST OF ABBREVIATIONS LIST OF APPENDIXES i ii iv v vi vii viii xi xiii xiv xv CHAPTER 1 : INTRODUCTION : Background : Objectives : Scopes of project : Thesis overview 7 CHAPTER 2 : LITERATURE REVIEW : Introduction 8
4 ix 2.2 : Why build Autonomous Robot : Previous Autonomous Robot problem : Methodology : Power supply : Microcontroller : Motor : Motor driver : Sensor : Speech IC : Speaker 15 CHAPTER 3 : HARDWARE & SOFTWARE DESIGN : Electronics design : Circuit overview : Controller board : Infrared emitter and receiver : Winbond ISD 2560 ChipCoder : Power supply unit : Microcontroller PIC 16F877A : Motor driver ST L293D : Connection Cable : Mechanical design : Tires : Tamiya Twin-motor gearbox : Chassis of the robot : Integration of the robot : Software design : Background 34
5 x : Algorithm : PicBasic Pro compiler : melabs Programmer 40 CHAPTER 4 : RESULTS & DISCUSSION : DC motor testing : Robot moving forward : Robot turning left : Robot turning right : Robot reversing : IR emitter and receiver testing : Winbond ISD 2560 ChipCoder testing : Limitation of the project 51 CHAPTER 5 : CONCLUSION : Conclusion : Future development : Costing and commercialization 54 REFERENCES 57 APPENDIX 59
6 xi LIST OF FIGURES FIGURE NO. TITLE PAGE 1.1 Flow chart for the whole project Block diagram for the project Autonomous Robot Schematic circuit diagram Blank controller board Controller board with PIC 16F877A, 20 power supply unit and motor driver L293D 3.4 Schematic diagram of IR emitter and receiver IR emitter (left) and receiver (right) Components of oscillator 22 (from left to right: 22kΩ resistor, 10ηF capacitor, 555 Timer and 2kΩ potentiometer) 3.7 Recording circuit Schematic diagram of the recording circuit Schematic diagram of the playback 24 circuit used in the project 3.10 Schematic diagram of the power supply unit Components of the power supply unit 26 (from left top to bottom: heat sink, LM78L05 from right top to bottom: 1µF, 1µF and 100µF) 3.12 Pin diagram of PIC 16F877A PIC 16F877A Pin diagram of L293D strands rainbow cable with connectors Toy truck tires A non-driven wheel 30
7 xii 3.18 Completed Tamiya Twin-motor 31 gearbox with toy truck tires 3.19 Top view of the case Overview of the case Gearbox with tires and non-driven wheel Board spacer Application of board spacers Autonomous robot algorithm Selecting MicroCode Studio New Editor with PIC 16F877A selected Saving the file in.pbp ASM,.HEX and.mac are generated melabs Programmer software melabs U2 programmer Flow chart of programming PIC 16F877A IR emitter OFF IR emitter ON and checked by camera lens No obstacle Obstacle at LEFT Obstacle at RIGHT Obstacle at FRONT Winbond ISD 2560 ChipCoder Complete Autonomous robot 53
8 xiii LIST OF TABLES TABLE NO. TITLE PAGE 3.1 Input and Output voltage values of 25 power supply unit 4.1 Logic and voltage values of L293D when robot 44 moving forward 4.2 Logic and voltage values of L293D when robot 45 turning left 4.3 Logic and voltage values of L293D when robot 46 turning right 4.4 Logic and voltage values of L293D when robot 47 Reversing 5.1 Cost for the controller board Cost for the Infrared sensors and ISD Cost for the connection Cost for the motor Overall cost for one autonomous robot 56
9 xiv LIST OF ABBREVIATIONS PIC ISD Hz khz MHz IC V dc I/O PM A mw IR PVC cm MSB LSB CD-R Programmable Interface Controller Information Storage Devices Hertz Kilo Hertz Mega Hertz Integrated circuit Volt Direct current Input/Output Permanent magnet Ampere Milliwatt Infrared Polyvinyl Chloride Centimeter Most Significant Bit Least Significant Bit Compact Disc-Recordable
10 xv LIST OF APPENDIXES APPENDIX NO. TITLE PAGE A Autonomous robot program listing 59 B Photos of Autonomous robot 65 C Datasheets 70
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