TIRSAK in Turkish means "timid" it is an obstacle avoiding path follower (OBAPF). 4 IR sensors were
used. Differential drive for wheels and a roll-on deodorant top as a castor wheel :))) 
It is controlled with 16F628. 
main purpose is : it is not crashing to obstacles and goes to target. also if it is let free in a
room it doesnt crash to walls and hangs around. 4 9V were used for steps, 2 9V were used for sensors
and PIC.
It is costed around 100$ if we had produced our IR sensors by ourselves it would be cheaper.
2 GP2D15 sharp IR sensors
2 15 degrees Steps
PIC 16F628

Email: murat.yumak@arcelik.com

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