MYROBOT by Saner Kurbay

The robot basically consists of a platform mounted on two
stepper motors which function as the wheels. 
The robot has a 8052 microcontroller with 64 Kbyte RAM and ROM. 

Although it is controlled from a PC through the serial port,
autonomous navigation is also possible by programming the EPROM
on board.

The system is flexible and can be configured by the software on
the PC for specific experiments in terms of maximum speed,
acceleration, deceleration etc. of the robot. 

The platform carries a rotating ``sensor head'' on which sonar
and infrared sensors are mounted. Infrared sensors indicate
presence or absence of obstacles in ranges less than 30 cm. 

The sonars can estimate the object's range and azimuth for
medium ranges. The robot updates its position by employing an
ordinary computer mouse located underneath and is capable of
dynamic obstacle avoidance. 

It estimates the range, azimuth and velocity of a moving
obstacle, and takes avoiding action in order to reach its
destination by following the shortest possible path


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