AVR Microcontroller Robotic Project

The project is to program a Robotic platform which consists of an Analog Joystick, Multiple Sonar sensors (SRF05), an embedded system (AVR Atmega644p) and the base. The base which I want to control is an electric wheelchair which consist of 2 DC motors (24 V each) and 2 batteries (14.1 V lead acid) and also a motor controller. You need to program the microcontroller so it can work Semi Autonomously and Autonomously. The main task is to avoid obstacles. The control algorithm must be based on the Fuzzy logic. Note that i have the fuzzy based control rules so you don't have to design the rules. Semi-Autonomously: The joystick data will directly go to the microcontroller instead of the motor controller. Microcontroller will also get the surrounding and environmental information’s from the multiple sonar sensors mounted on the wheelchair. The microcontroller will then modify the user input if necessary and will send the corrected information (Modified direction and speed) to the motor controller. That means if for example the user pushes the joystick forward button but there is an obstacle in the front, the microcontroller will change the direction and speed of the wheelchair to avoid collision. Autonomously: The robot (Wheelchair) will start moving and avoids collision. We will connect a switch or a button to the microcontroller and by pushing that button the wheelchair will go to the autonomous face and will no more require input from the user and joystick. It will move forward and avoid obstacles in its way. ## Deliverables 1) All deliverables will be considered "work made for hire" under U.S. Copyright law. Buyer will receive exclusive and complete copyrights to all work purchased. (No GPL, GNU, 3rd party components, etc. unless all copyright ramifications are explained AND AGREED TO by the buyer on the site per the worker's Worker Legal Agreement). 2) Complete and fully-functional working program(s) in executable form as well as complete source code of all work done. 3) Deliverables must be in ready-to-run condition, as follows (depending on the nature of the deliverables): a) For web sites or other server-side deliverables intended to only ever exist in one place in the Buyer's environment--Deliverables must be installed by the Worker in ready-to-run condition in the Buyer's environment. b) For all others including desktop software or software the buyer intends to distribute: A software installation package that will install the software in ready-to-run condition on the platform(s) specified in this bid request. ## Platform WinAVR Compiler is prefered.