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Vol. 144, No. 9, September 2012, pp. 113-122




Development of Single Place Multiple Obstacle Avoidable System for Guarded Tele-operated Trolley, a Service Robot Using Single Ultrasonic Sensor

Subrata CHOTTOPADHAYA and Soumendra Nath KUNDU

Department of Electrical Engineering, National Institute of Technical Teachers’ Training and Research, Kolkata [Under MHRD, Govt. of India],

Block-FC, Sector-III, Salt Lake City, Kolkata-700 106, India

E-mail: subrata0507@sify.com, santu_phonix@yahoo.co.in



Received: 18 July 2012   /Accepted: 21 September 2012   /Published: 28 September 2012

Digital Sensors and Sensor Sysstems


Abstract: This paper depicts the development of single place multiple obstacle avoidable system for a guarded tele-operated trolley-service robot. A guarded tele-operated mobile robot is that which must have the ability to sense and avoid obstacles but otherwise it will navigate as driven, like a robot under manual tele-operation. The configuration of the system consists of ultrasonic sensor, signal conditioning circuits, radio communication module, controller, and actuators. The Obstacle avoidance algorithm is developed based on physical realization of the requirement. The ultrasonic switch is designed to sense the front obstacle of the robot. An AT89C52 microcontroller is used in order to receive the sensor signal and generate the algorithm and control the movement of the mobile robot for obstacle avoidance. System implementation is briefly described to depict the system as a whole. Experimental results are presented to demonstrate and validate effectiveness of the technique used.


Keywords: Guarded tele-operated mobile robotic system, Ultrasonic sensor, Automatic multiple obstacle avoidance, Human control mode



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