Modelling and Simulation of Omnidirectional Mobile Robot with Line Follower and Obstacles Avoidance

Abstract

Mobile robot is a machine that has been supervised by running of software and combination of sensors, wheels and dc motors to move around its environment. Current mobile robot mostly uses unidirectional navigation where all parts of the robot align in the same direction during turning and navigating. This method requires some time and might decrease navigation performance. This study is focusing on improvement of mobile robot by using omnidirectional navigation that will follow the line and detect the obstacle. The combination of mecanum wheels with different direction produces different movement and angles of the mobile robot. Arduino microcontroller is used as a medium for the sensors, dc motors and mecanum wheels to interfaced with each other. The body of the mobile robot is square shaped, with attachment of 4 dc motors, 8 Ir sensors and 2 Ultrasonic sensors, 2 motor drivers (vnhs2sp3), Arduino Mega 2560, 4 Mecanum wheels and 12V dc battery used in this project. The hardware was assembled and the turning of mecanum wheel performance was measured. The line following navigation system was modelled in Proteus and the simulation shows a perfect line follower and obstacle avoidance mobile root.