This repository includes all the project files related to the development of an Arduino based autonomous mobile robot. The project is being done by a team of 5 undergraduates at the Department of Electronic and Telecommunication Engineering, University of Moratuwa, Sri Lanka. The following figures illustrates the initial prototypes of the planned mobile robot design and it may be subjected to various changes during the actual robot implementing stage due to possible reasons.

Version 1	Version 2

• Algorithms were developed.
• Working on coding.
• Physical Robot building stage was initialized.
• Robot arm's basic motion was implemented.
• Line following algirithm is being debugged.

This folder contains the latest stable version of the Arduino code tested and debugged by the team.

This folder contains the most fundamental Arduino sketches for various sub-tasks encountered while designing the robot. Ex:

• Drive a Servo motor
• Drive a DC motor through L298N motor driver
• Drive a DC motor through VNH5019A Motor Driver-POLOLU
• Measuring distances using SharpIR

This folder contains all the SolidWorks models of the robot prototype.

DXF files of the parts which were laser cut to build the robot.

STL files of the parts which were 3D printed to build the robot.

Arduino libraries which were modified(or not modified) to suit to the given task.

Documentation folder includes some of the important documents related to the design of a mobile robot.

ArduinoMega2560.pdf : Information about peripheral circuitry of the ArduinoMega2560(Rev3).

How to choose the correct servo.pdf : Calculations to choose the correct servo motors for the given task.

L298N Motor Driver Logical Functionality.pdf : Underlying logical Functionality of the L2968N motor driver is shown by a truth table.

Motor_selection.pdf : Calculations required to determine the motor for the mobile robot are explained in this document.

Power_source_selection.pdf : Calculations required to choose the proper power source for the mobile robot are described in the document.

Robot Mechanical Design.pdf : The initial prototype of the mobile robot and the mechanical parts of the robot are explained in this document.

Robot Sensors.pdf : Sensors used in building the robot is described in this document in descriptive manner and drawbacks of other Sensors are also included.

Subsumption Architecture.pdf : A summary on the Subsumption Architecture is given in this document. It is a very robust Control system Architecture which was introduced by R. A. Brooks of MIT in 1985.

Great things are not done by impulse, but by a series of small things brought together. ~ Vincent Van Gogh

Some of the moments of actual robot implementation...

Image	Description/ Comments
	IR sensor Panel: 'Raykha S8' before mounting
	Drilling holes to mount motors
	Checking the power distribution unit
	Mounting the motor driver: 'Dagaya 2.0'
	Mounting the power distribution unit
	Powering up the IR sensor panels
	Powering up the IR sensor panels. Side View
	Mounting the robot brain. ArduinoMega2560
	Back view
	Making the robot arm
	Robot up to now

Individual commitment to a group effort --that is what makes a team work, a company work, a society work, a civilization work. ~ Vince Lombardi

Thalagala B.P.

1. Sandeepa H.K.C.A
2. Hewavitharana D.R.
3. Nagasinghe K.R.Y.
4. Kumarasinghe H.A.N.H.

The Webots robot simulator implementation of this Robot can be found at webots-Autonomous-Mobile-Robot.