POTHOLE DETECT AND FILL VEHICLE

TECHNICAL SEMINAR REPORT

15EI609-TECHNICAL SEMINAR II

Submitted by
ASHOK SELVA KUMAR E
(171EI111 )

DEPARTMENT OF ELECTRONICS AND INSTRUMENTATION

ENGINEERING
BANNARI AMMAN INSTITUTE OF TECHNOLOGY
(An Autonomous Institution Affiliated to Anna University, Chennai)
SATHYAMANGALAM-638401

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 BONAFIDE CERTIFICATE

Certified that this project report “ POTHOLE DETECT AND FILL

VEHICLE ”is the bonafied work of “ASHOK SELVA KUMAR E
(171EI111)” who carried out of the technical seminar work under my
supervision.

SIGNATURE SIGNATURE

HEAD OF THE DEPARTMENT SUPERVISOR

Dr C GANESH BABU Mrs M KALAIYARASI
Professor & Head Assistant Professor
Department of EIE Department of EIE
Bannari Amman Institute Bannari Amman Institute of
of technology technology

Sathyamangalam. Sathyamangalam.

Submitted for Viva Voce examination held on ………………

INTERNAL EXAMINER EXTERNAL EXAMINER

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 ABSTRACT

The main objective of the project is to design and fabricate an

Automated vehicle, which will detect the Pothole on the road and will
discharge the required amount on concrete quantity, which is needed for the
detected pothole and to do the leveling process on the discharged concrete
and hence the pothole on the road filled completely.
The power source for the robot is switched ON and allows the robot to
move on the road. The IR sensor on the front of the robot is allowed to
sense the surface of the road, if the pothole will be detected the sensor send
the signals to the Arduino Controller, and the controller suddenly stops the
movement of machine near the pothole, and allows to discharge the required
concrete needed for the detected pothole. Then after filling the pothole and
leveling process would be done.

KEYWORDS:IR sensor, Leveling ,automated machine.

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 TABLE OF CONTENTS

CHAPTER NO TITLE PAGENO

ABSTRACT iv

LIST OF TABLES vii

LIST OF FIGURES vii

1 INTRODUCTION 1

1.2 OBJECTIVE OF PROJECT WORK 2

1.3 LITERATURE REVIEW 2

1.3.1 INTRODUCTION 2

1.3.2 POTHOLE-DEFINITION 3

1.3.3 FILLING 3

1.3.4 BENEFITS 4

1.3.5 CONCLUSION 4

2 PROPOSED METHODOLOGY

2.1 EXISTING METHOD 5

2.2 PROPOSED METHOD 7

2.3 OPERATION OF BLOCK DIAGRAM 8

2.4 PROCESS SHEET 9

2.4.1 COMPONENTS SPECIFICATIONS 9

2.5WORKING 10

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3 SYSTEM DESIGN

3.1 INTRODUCTION 12

3.2 IR SENSOR 12

3.3 DC MOTOR 13

3.4 ARDUINO UNO 15

3.4.1 POWER USB 15

3.4.2 POWER 15
3.4.3 MAIN CONTROLLER 16
3.4.4 ICSP PIN 16
3.4.5 POWER LED INDICATOR 16
3.4. 6 TX AND RX LED INDICATOR 16
3.4.7 DIGITAL I/O 17
3.4.8 AREF 17
3.4.9 WARNING 17
3.4.10POWER 17
3.4.11COMMUNICATIONS 20

3.5 MOTOR DRIVER13 22

3.6 HUMAN SAFETY 14 23

3.7 CONCLUSION 24

REFRENCES 25

APPENDIX 27

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LIST OF TABLES

TABLE NO TITLE PAGE NO

2.1 General Specifications of Arduino UNO 9

2.2 DC Motor specifications 10

LIST OF FIGURES

FIG NO TITLE PAGE NO

1 Pothole 1

2 Block diagram of existing method 6

3 Block diagram of proposed method 8

4 Design of hardware 11

5 Construction of DC Motor 14

6 Arduino Uno 21

7 Motor Driver Circuit 24

8 Pin configuration of motor driver circuits 23

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CHAPTER 1

INTRODUCTION
1.1 INTRODUCTION
Roads make a crucial contribution to economic development and bring
important social benefits. They are of vital importance in order to make a nation
grow and develop. Roads open up more areas and stimulate economic and social
development. For those reasons, road infrastructure is the most important of all
public assets. But due to repeated loading and weathering on roads, a pothole may
be caused which may affect the human life very badly.
A pothole is a structural failure in a road surface, caused by failure
primarily in asphalt pavement due to the presence of water in the underlying soil
structure and the presence of traffic passing over the affected area.
So our project is to make a machine which helps the society in promoting the
road safety and to reduce the difficulties in detecting the pothole and also reduce
the usage of human power,and hence saves the time.
We designed a Automatic machine which will detect the pothole on the
road,and will discharge the required amount of concrete to fill the pothole and to do

FIGURE.1 POTHOLE
AS levelling process on the discharged concrete .Therefore the pothole on road
(Fig1.Pothole) may be filled completely and hence the accidents occur due to the
pothole may be reduced.

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1.2 OBJECTIVE OF PROJECT WORK

The main objective of the project is to design and fabricate an
Automated vehicle,which will detect the Pothole on the road and will discharge the
required amount on concrete quantity,which is needed for the detected pothole and
to do the levelling process on the discharged concrete and hence the pothole on the
road filled completely.
The power source for the machine is switched ON and allows the
robot to move on the road.The IR sensor on the front of the robot is allowed to
sense the surface of the road, if the pothole will be detected the sensor send the
signals to the Arduino Controller ,and the controller suddenly stops the
movement of vehicle near the pothole, and allows to discharge the required
concrete needed for the detected pothole. Then the pothole is levelled by
mechanism.

1.3LITERATURE SURVEY
1.3 .1 INTRODUCTION
Before starting this project, it is important to research existing machines
and the technologies used in them. This will help us understand any existing
problems and try to find solutions for these problems in such a way that it can be
implemented in our project. Going through the literature also helps us understand
the practical outcomes of the project and how to attain the required outcomes.

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1.3.1 Pothole-Definition

SHRP established a basic requirement for the scope of potholes to be

repaired. An expanded definition included other variations that would be
encountered in practice.
“Development of hybrid robot of construction works with pneumatic
actuator, automation in construction”(vol.14, issue 4, 452-459, august 2005)- This
paper presents a construction robot this is a hybrid type robot using pneumatic
actuator and servo motor. The hybrid type robot can be used in a window glass
mounting or panel fixing. The developed construction robot with pneumatic
actuator using the sliding mode controller used in the working of attaching the
ceramic tile.
“Automation in construction journal”- This journal has patterned with
RESULTS IN ENGINEERING , an open access journal from Elsevier publishing
peer review research across all engineering disciplines RESULTS IN
ENGINEERING’S team of experts provide editorial excellance, fast publication
and high visibility.

1.3.2Filling:
The prototype filling system has been designed to be automatically controlled
on a vehicle. Some of the commercial systems we evaluated showed promise but
none offered the required features for this task. The testing program clearly
demonstrates that this design achieves very high rates of productivity, with a very
simple approach having controls ideally suited to our automation needs. They can
simutaneously control the aggregate feed rate, emulsion flow rate,temperature,
aggregate coverage, and fill. This is the surest way of achieving the most consistent
patch performance.

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1.3.3 Benefits

The technology developed and applied through this SHRP study will have
lasting benefit to all roadway maintenance authorities and workers by making
pothole repair safer for all, with greater performance and productivity than
traditional methods. Given a successful commercialization program and
field testing, production models could start to become available for the benefit of
the pavement maintenance community in 1994. We think that different
configurations would be manufactured to maximize the benefit to state highways,
districts, cities, and private contractors. Every group has special requirements as to
size, maneuverability, level of automation, and material capability. Since the APRV
was designed as a modular system, each of the components could be modified to
suit the needs of the end user.

1.3.4 CONCLUSION

Thus, research was done regarding this project on various sources of

literature. The many methodologies were studied and this information has helped to
complete the project successfully.

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 CHAPTER 2
PROPOSED METHODOLOGY

2.1 EXISTING METHOD:

The existing method is that the technology will allow a vehicle to gather the data
about location and severity of potholes, broken drains and manhole covers. It will
also allow the vehicles to send and receive warnings allowing the driver to slow
down or the car adjust its suspension settings to reduce the impact and smooth the
ride, with the aim of reducing the potential for punctures wheel and vehicle damage.
The idea behind the technology is to allow the drivers enough time to slow down and
avoid danger(Fig 2).
It works thorough sophisticated sensors that allow the vehicle to profile the
road surface under the wheels and identifies the potholes, raised manholes and
broken drain covers. The vehicle is adding on a forward-facing camera, potential
allowing its car to scan the road ahead but it’s also relying on information from
thecar’s suspension and GPS to round out the picture.

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 FIGURE 2.
BLOCK DIAGRAM OF THE EXISTING METHOD

Once the data’s being gathered however, the car will need a way to send the
information off and rely it to other vehicles, so this won’t be very useful until there
are a lot of connected cars on the road. These technologies have their limitations
which need to be eradicated.

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2.2PROPOSED METHOD:

The idea is to prevent the accident by detecting the pothole. There have been
many technologies to avoid the accident. By this proposal the limitations of other
technologies have been reduced to great extent. This project focuses on vehicle, a
user-friendly machine that specializes in detecting potholes and other obstacles
besides filling the pothole with concrete.
Vehicle safety can be improved by anticipating a crash before it occurs and
thereby providing additional time to deploy safety technologies. When the vehicle is
approaching a pothole or any obstruction, it intimates in advance regarding what the
road entails.
The project’s ultimate aim thus finalized as, one to detect pothole and fill the
pothole and it is one of the easiest and versatile system that can prevent fatal
accidents. Many limitations in the existing system are tried to overcome in our
proposed system(Fig 3).
Our proposed system is about preventing fatal accidents Our main goal is to
detect pothole and other obstacles and fill it with essential substance. Also, there are
technologies to detect potholes that is attached to normal vehicle and then the vehicle
deviates its path and stop the vehicle before the accident could occur.
The hardware requirements are power supply, Arduino UNO, IR sensor, DC
motor, Motor driver circuit, wheels, castor ball wheel.

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Power Supply

Arduino Uno Motor Driver

Circuit

IR Sensor Motor (Vehicle)

Pothole Filling

FIGURE 3.

BLOCK DIAGRAM OF THE PROPOSED METHOD

2.3OPERATION OF BLOCK DIAGRAM:

The power supply is given to Arduino Uno and the motor driver circuit.IR
sensor is used to sense the white or black line to run the vehicle in road, which is
inputted to Arduino and the enable lines of motor driver circuit is connected to
Arduino Uno and the motor which is used to drive the vehicle is connected to motor
driver circuit input and the another one motor which is used to fill the pothole is also
inputted to the motor driver circuit.

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2.4PROCESS SHEET:

2.4.1COMPONENT SPECIFICATION:

ARDUINO ATMEGA-328

The following table General Specifications Arduino Atmega-328 shows the

component specifications were done in this project.

Parameter Value

Operating voltage 5V

Input voltage 7-12 V

Digital I/O Pins 14 PINS

Analog input pins 8

Memory Flash memory (1 or 32 kb)

Clock speed 16 MHz

Dimensions 0.73 X 1.70

Table 2.1 General Specifications of Arduino Atmega-328

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DC Motor Specifications:

PARAMETER VALUE
Voltage 12 V
Speed 30rpm
Current 1amps
Weight Able to lift kg
No of motor 2

Table 2.2 Motor Specifications

2.5WORKING
The pothole filling system is used to detect the potholes and fill it
automatically. First of all, we use the robotic vehicle which is connected to the 12v
battery which runs with the help of IR sensor automatically. A motor driver circuit is
connected to the motor which runs the vehicle(Fig 4).Another IR sensor is connected
at the edge of the vehicle, which is used to detect the potholes. And another motor is
fixed to this setup in order to fill the potholes. The output of the IR sensor is inputted
to the Arduino Uno. The only purpose of the vehicle is to detect the potholes and fill
it with the concrete.

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The above setup is attached to the vehicle, when the vehicle runs in the
defective road, and if any kind of potholes or crack is detected the motion of the
vehicle is reduced in order to fill the potholes and after such detection the potholes
are filled with concrete

FIGURE 4. DESIGNOFHARDWARE
. After this process it continues to move in the road to do the
same process with the same procedure until the road ends. This setup moves along
the black colored road only.

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CHAPTER 3
SYSTEM DESIGN

3.1 INTRODUCTION:

This machine is designed, which helps the society in promoting the road
safety and to reduce the difficulties in detecting the pothole and reduce the usage of
human power, and hence saves the time.
This is done in ensuring perfection in all the aspects such as speed, accuracy,
flexibility, safety, reliability and cost effective during the maintenance and service
of the robot. The overall concept of the system will be explained in this chapter.

3.2 IR SENSOR
An IR sensor is a device that can sense the road to an object by detecting
black and white colours. It measures distance by sending out a sound wave at a
specific frequency and listening for that sound wave to bounce back. By recording
the elapsed time between the sound wave being generated and the sound wave
bouncing back, it is possible to calculate the distance between the sonar sensor and
the object.

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3.3 DC MOTOR
A DC Motor like we all know is a device that deals in the conversion of
Electrical energy to mechanical energy and this is essentially brought about by
two major parts required for the construction of dc motor, namely.
1) Stator – The static part that houses the field windings and receives the
supply and
2) Rotor – The rotating part that brings about the mechanical rotation
Other than that there are several subsidiary parts namely

3) Yoke or casting of dc motor.

4) Magnetic poles of dc motor.

5) Field winding of dc motor.

6) Armature winding of dc motor.

7) Commutator of dc motor.

8) Brushes of dc motor.

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FIGURE 5 CONSTRUCTION OF DC MOTOR

All these parts put together configures the total construction of a dc motor,
that has been pictorially represented in the diagram below. (Fig 5 )Construction of
DC motor.

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3.4 ARDUINO UNO

3.4.1 POWER USB

Arduino board can be powered by using the USB cable from your computer.
All you need to do is connect the USB cable to the USB connection (1).

3.4.2 Power (Barrel Jack)

Arduino boards can be powered directly from the AC mains power supply by
connecting it to the Barrel Jack
Voltage Regulator:
The function of the voltage reg ing with time issues. How does ARDUINO
detect pothole? The answer is, by using the crystal oscillator. The number printed on
top of the ARDUINO crystal is 16.000H9H. It tells us that the frequency is
16,000,000 Hertz or 16 MHz.
You can reset your Arduino board, i.e., start your program from the beginning.
You can reset the UNO board in two ways. First, by using the reset button (17) on
the board. Second, you can connect an external reset button to the Arduino pin
labelled RESET (5).
Pins (3.3, 5, GND, Vin)
• 3.3V (6) − Supply 3.3 output volt
• 5V (7) − Supply 5 output volt
• Most of the components used with Arduino board works fine with 3.3 volt and 5
volt.
• GND (8)(Ground) − There are several GND pins on the Arduino, any of which can
be used to ground your circuit.
• Vin (9) − This pin also can be used to power the Arduino board from an external
power source, like AC mains power supply.
Analog pins:
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The Arduino UNO board has five analog input pins A0 through A5. These
pins can read the signal from an analog sensor like the humidity sensor or
temperature sensor and convert it into a digital value that can be read by the
microprocessor.
3.4.3 Main microcontroller:
Each Arduino board has its own microcontroller (11). You can assume it as
the brain of your board. The main IC (integrated circuit) on the Arduino is slightly
different from board to board. The microcontrollers are usually of the ATMEL
Company. You must know what IC your board has before loading up a new program
from the Arduino IDE. This information is available on the top of the IC. For more
details about the IC construction and functions, you can refer to the data sheet.
3.4.4 ICSP pin
Mostly, ICSP (12) is an AVR, a tiny programming header for the Arduino
consisting of MOSI, MISO, SCK, RESET, VCC, and GND. It is often referred to as
an SPI (Serial Peripheral Interface), which could be considered as an "expansion" of
the output. Actually, you are slaving the output device to the master of the SPI bus.

3.4.5 Power LED indicator:

This LED should light up when you plug your Arduino into a power source to
indicate that your board is powered up correctly. If this light does not turn on, then
there is something wrong with the connection.
3.4.6 TX and RX LEDs :
On your board, you will find two labels: TX (transmit) and RX (receive). They
appear in two places on the Arduino UNO board. First, at the digital pins 0 and 1, to
indicate the pins responsible for serial communication. Second, the TX and RX led
(13). The TX led flashes with different speed while sending the serial data. The
speed of flashing depends on the baud rate used by the board. RX flashes during the
receiving process.
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3.4.7Digital I/O :
The Arduino UNO board has 14 digital I/O pins (15) (of which 6 provide
PWM (Pulse Width Modulation) output. These pins can be configured to work as
input digital pins to read logic values (0 or 1) or as digital output pins to drive
different modules like LEDs, relays, etc. The pins labeled “~” can be used to
generate PWM
3.4.8 AREF:
AREF stands for Analog Reference. It is sometimes, used to set an external
reference voltage (between 0 and 5 Volts) as the upper limit for the analog input
pins.
3.4.9 WARNINGS :
Arduino/Genuino Uno has a resettable polyfuse that protects your computer's
USB ports from shorts and overcurrent. Although most computers provide their own
internal protection, the fuse provides an extra layer of protection. If more than 500
mA is applied to the USB port, the fuse will automatically break the connection until
the short or overload is removed.
The Uno differs from all preceding boards in that it does not use the FTDI USBto-
serial driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version
R2) programmed as a USB-to-serial converter.
3.4.10 POWER :
The Arduino/Genuino Uno board can be powered via the USB connection or
with an external power supply. The power source is selected automatically.
External (non-USB) power can come either from an AC-to-DC adapter (wallwart) or
battery. The adapter can be connected by plugging a 2.1mm centerpositive plug into
the board's power jack. Leads from a battery can be inserted in the GND and Vin pin
headers of the POWER connector.

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The board can operate on an external supply from 6 to 20 volts. If supplied

with less than 7V, however, the 5V pin may supply less than five volts and the board
may become unstable. If using more than 12V, the voltage regulator may overheat
and damage the board. The recommended range is 7 to 12 volts.
The power pins are as follows:

Vin
The input voltage to the Arduino/Genuino board when it's using an external
power source (as opposed to 5 volts from the USB connection or other regulated
power source). You can supply voltage through this pin, or, if supplying voltage via
the power jack, access it through this pin.
5V
This pin outputs a regulated 5V from the regulator on the board. The board can
be supplied with power either from the DC power jack (7 - 12V), the USB connector
(5V), or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V
pins bypasses the regulator, and can damage your board. We don't advise it.
3V3.
A 3.3 volt supply generated by the on-board regulator. Maximum current draw
is 50 mA.
GND. Ground pins.
IOREF.
This pin on the Arduino/Genuino board provides the voltage reference with
which the microcontroller operates. A properly configured shield can read the
IOREF pin voltage and select the appropriate power source or enable voltage
translators on the outputs to work with the 5V or 3.3V.

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MEMORY
The ATmega328 has 32 KB (with 0.5 KB occupied by the bootloader). It also
has 2 KB of SRAM and 1 KB of EEPROM (which can be read and written with the
EEPROM library).
INPUT AND OUTPUT
See the mapping between Arduino pins and ATmega328P ports. The mapping
for the Atmega8, 168, and 328 is identical. Each of the 14 digital pins on the Uno can
be used as an input or output, using pinMode(), digitalWrite(), and digitalRead()
functions. They operate at 5 volts. Each pin can provide or receive 20 mA as
recommended operating condition and has an internal pull-up resistor (disconnected
by default) of 20-50k ohm. A maximum of 40mA is the value that must not be
exceeded on any I/O pin to avoid permanent damage to the microcontroller.
In addition, some pins have specialized functions:
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data. These pins are connected to the corresponding pins of the ATmega8U2 USB-
to-TTL Serial chip.
External Interrupts: 2 and 3. These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See the
attachInterrupt() function for details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the
analogWrite() function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication using the SPI library.
LED: 13. There is a built-in LED driven by digital pin 13. When the pin is
HIGH value, the LED is on, when the pin is LOW, it's off.

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TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using
the Wire library.
The Uno has 6 analog inputs, labeled A0 through A5, each of which provide
10 bits of resolution (i.e. 1024 different values). By default they measure from
ground to 5 volts, though is it possible to change the upper end of their range using
the AREF pin and the analogReference() function. There are a couple of other pins
on the board:

AREF. Reference voltage for the analog inputs. Used with analogReference().
Reset. Bring this line LOW to reset the microcontroller. Typically used to add
a reset button to shields which block the one on the board.
3.4.11 COMMUNICATIONS :
Arduino/Genuino Uno has a number of facilities for communicating with a
computer, another Arduino/Genuino board, or other microcontrollers. The
ATmega328 provides UART TTL (5V) serial communication, which is available on
digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial
communication over USB and appears as a virtual com port to software on the
computer.
The 16U2 firmware uses the standard USB COM drivers, and no external
driver is needed. However, on Windows, a .inf file is required. The Arduino
Software (IDE) includes a serial monitor which allows simple textual data to be sent
to and from the board. The RX and TX LEDs on the board will flash when data is
being transmitted via the USB-to-serial chip and USB connection to the computer
(but not for serial communication on pins 0 and 1).

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FIGURE 6. ARDUINO UNO

A SoftwareSerial library allows serial communication on any of the Uno's
digital pins(Fig 6).
The ATmega328 also supports I2C (TWI) and SPI communication. The
Arduino Software (IDE) includes a Wire library to simplify use of the I2C bus; see
the documentation for details. For SPI communication, use the SPI library.

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.5 MOTOR DRIVER:
The motor driver which is connected to the Arduino board is used to drive
the 150 rpm DC motor which is connected to it(Fig 7).

FIGURE 7. MOTOR DRIVER CIRCUIT

2A Output current capability per driver.

Separate Input-logic supply.
It can drive small DC-geared motors, bipolar stepper motor.
Maximum power:25W
Working temperature: -25C to +130C
Other extensions:current probe,controlling direction indicator,pull up resistor
switch,logic part power supply(fig 8).

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FIGURE 8. PIN CONFIGURATION OF MOTOR DRIVER CIRCUIT

3.6 HUMAN SAFETY:

In any automated process human safety holds the first priority.
In this process the vehicle is monitored by a well equipped skilled person.
This prevents the damage to the other humans on the road. Since the Ultrasonic
sensor is fixed on the front of the robot,if any obstacles is detected it immediately
stops the movement of the robot.

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3.6CONCLUSION
Therefore, our Automated Vehicle, helps the society in promoting the road
safety and to reduce the difficulties in detecting the pothole and also reduce the
usage of human power, and hence saves the time. Therefore, by filling the pothole
accidents which occur on the road may be reduced. Due to these potholes, many
accidents are occurred in roads. By use of this machine, potholes will be detected
and get filled. It reduces the manual work. It is economically efficient. It takes less
capital than the existing methods for this problem. The project is successfully
completed and tested. All the specified requirements were fulfilled upon
completion the project.

REFERENCES

[1] “Automation and robotics for road construction and maintenance”,by miroslaw
Skibniewski and chris Hendrickson.

[2] Herbsman, Z., and Ellis, R. (1988). “Potential application of robotics in highway
construction." Proc, 5th Int. Symp. on Robotics in Constr., Japan Industrial Robot
Association, Tokyo, Japan, June, 299-308.

[3] “Fabrication and Testing of Automated Pothole patching machine” , by

James.R.Bhlaha.

[4] Kahane B. and Rosenfeld, y.(2004).Real-time “Sense and Act” operation

for constructionrobots, Automation in Construction.

[5] Shohet, I.M. and Rosenfeld, Y.(1997). Robotic mapping of building interior-
precision analysis, Automation in Construction
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[6] Hyeun-Seok Choia, Chang-Soo Hana, Kye-young Leeb and Sang-heon Leeb,
(August 2005), Development of hybrid robot for construction works with
pneumatic actuator, Automation in Construction, Volume 14, Issue 4, 452-459

[7] A.T.P. and Chan, W.L. (2002). LAN-basedbuilding maintenance and

surveillance robot, Automation in Construction, 11, 6 , 619-627.

[8] Werfel, J., Bar-Yam, Y. and Nagpal, R. (2005).Building Patterned

Structures with Robot Swarms,Computer Science and Artificial
IntelligenceLaboratory, Technical Report, MassachusettsInstitute of
technology, Cambridge, USA.
[9] Kalay, Y.E. and Skibniewski, M.J. Automation in
Construction journal, www.iaarc.org/_old/frame/publish/autcon.htm.

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APPENDIX:

/*-------definning Inputs------*/
#define IRS 5 // IRSensor

/*-------definning Outputs------*/
#define M1 8 // Vehicle Motor
#define M2 9 // Vehicle motor
#define FM1 10 // Filler Motor
#define FM2 11 // Filler motor

void setup()
{
pinMode(IRS, INPUT);
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);
pinMode(FM1, OUTPUT);
pinMode(FM2, OUTPUT);

void loop()
{
if(digitalRead(IRS)==LOW) // Condition_1 stop
{
MoveForward();
}

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if(digitalRead(IRS)==HIGH) //CONDITION-2 FORWARD
{
delay (300); // delay to stop the motor after few seconds, as IR sensor is placed
before the filler
Stop();
}
}
void MoveForward()
{
analogWrite(M1, 50);
analogWrite(M2, 0);
analogWrite(FM1, 50);
analogWrite(FM2, 0);
}

void Stop()
{
analogWrite(M1, 0);
analogWrite(M2, 0);
analogWrite(FM1, 0);
analogWrite(FM2, 0);
}

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