The design and construction of an autonomous vehicle with ultrasonic sensors

Abstract

The objective of this project is to implement the design and construction of a mobile robot which is suitable for testing any software written in assembly on 'Collision avoidance', 'path planning' and 'motion planning'. Robot navigation, ultrasonic sensing, ultrasonic ranging, methods for driving & controlling different types of DC and stepper motors are studied. And various hardware and software are implemented and tested for optimum performance. Although all of these methods, hardware and software aren't used in my robot they're presented in these thesis in their fully working & tested versions. For navigation in an unknown environment, the information obtained from an virtual ultrasonic ring is used. That virtual ultrasonic ring is constructed by rotating a pair of ultrasonic sensors that are mounted on the robot by a stepper motor.