Obstacle%20Detection%20System%20for%20Wunderbot%20II

1
Obstacle Detection SystemforWunderbot II

• Sonar and IR Sensors
• Members
• Steve Sanko and Snehesh Shrestha

2
Problem ?

• To create a proximity detecting system
• capable of detecting obstacles from the
• prospective of a moving robot

3
Our Objectives

• To be able to detect one or more obstacles during
  the robots travel
• Plot a virtual map of the obstacles in real time
• Monitor terrain and clearance

4
Proposed Solution

• Use Sonar sensors for detecting distant obstacles
  Mid Range
• Use IR sensors for detecting changes in terrain
  (drop off) and detecting near objects Short
  Range

5
Sonar Sensors

• Device Devantech SRF04 Sonar Device
• Principle Ping is sent and echo is received.
  Distances is determined by time of flight.
• Assumption If no echo is received within 30 ms
  then there is no object within range of the
  sensors

6
IR Sensors

• Device Sharp GP2D12 Infrared Object Detector
• Principle Transmitted IR beam from one source is
  reflected back to the receiver. The distance is
  calculated by the triangle formed

7
Processing

• Communicating with
• sensors through the
• OOPic II Plus
• Microcontroller

8
The End
Any Questions ?