XBot

The robot
was equipped with several sensors while two modified for continuous rotation servos were used to
move it around. The robot's main parts are listed below:

Microcontroller: Atmega 8535 running at 16 MHz

* 4 Infa-Red proximity detectors
(for obstacle detection and avoidance)
* 1 Rotating ultrasonic ranging module
(for measuring distances. +/-90 degrees rotation)
* 2 Wheel encoders
(to accurately measure wheel rotation)
* 1 PIR sensor
(to detect human presence)
* 1 "Line Sensor"
(Line following)
* 1 Radio Data Link
(for telemetry purposes)
* 1 Alphanumeric LCD (20x4)
(mainly for debugging purposes)
*1 Battery level sensor
*3 Push buttons
(to provide a basic user input unit)

Although several navigation routines were implemented the main effort was to enhance the robot with
a self-localization ability (dead-reckoning)