Design and development of microcontroller based autonomous peg placement robot

In this paper, design and development of a peg placement robot for participating in National Engineering Robotics Contest (NERC) 2009 is presented. The robot needs to place the pre-loaded pegs in pigeon holes while navigating through a grid of white reflecting lines. The sensory system of the robot comprises of infrared sensors for line following and peg placement tasks. Twelve infrared sensors are mounted undercarriage the robot for navigation and one infrared sensor for controlling peg placement assembly. A position PI controller is designed using root locus technique for navigation of robot and implemented using AT89C52 microcontroller. Experimental results have shown the validity of the entire system.