INTRODUCTION LITERATURE REVIEW METODOLOGY

v TABLE OF CONTENT Abstrak i Abstract ii Dedication iii Acknowledgement iv Table of Content v List of Tables xi List of Figures xii List of Abbreviations xiii

1. INTRODUCTION

1 1.1 Project Overview 1 1.2 Background 2 1.2.1 Types of Robot 3 1.2.2 Robot Application in Military 6 1.3 Problem Statement 7 1.4 Project Aim 7 1.5 Objectives of The Project 7 1.6 Scope of The Project 8 vi 1.7 Project Outline 8 1.8 Project Planning 10 1.9 Expected Outcome 12 1.10 Chapter Conclusion 12

2. LITERATURE REVIEW

13 2.1 Introduction to Robotic 13 2.1.1 Definition of Robotic 14 2.1.2 Industrial Robot 14 2.1.3 Mobile Robot 16 2.1.3.1 Wheeled Type of Mobile Robot 17 2.1.3.2 Legged Type of Mobile Robot 18 2.2 Type of Control for Mobile Robot 19 2.2.1 Manual Remote Mobile Robot 20 2.2.2 Autonomous Mobile Robot 22 2.3 Application of Mobile Robot 22 2.3.1 Hobby 23 2.3.2 Space 24 2.3.3 Industry 26 2.3.4 Military 27 2.4 Major Component of Mobile Robot 30 2.4.1 Basic Control Scheme of Mobile Robot 31 vii 2.5 Wheel 31 2.5.1 Type of Wheel 32 2.5.2 Motor 34 2.5.2.1 Basic Principle Operation of DC Motor 34 2.5.2.2 Stepper Motor 36 2.5.2.3 Brushed Motor 37 2.5.2.4 Brushless Motor 38 2.5.2.5 Speed Control DC Motor 40 2.6 Controller 42 2.6.1 Microcontroller 42 2.6.2 Microcontroller by Microchip 44 2.6.3 Programming 49 2.6.3.1 Micro C 50 2.6.3.2 MPLAB 51 2.7 Battery 52 2.7.1 Type of Battery 52 2.8 Software Tools 54 2.8.1 AutoCAD 55 2.8.2 SolidWorks 56 2.8.3 Proteus for PCB Design 57 2.8.4 PIC Kit 58 viii 2.9 Sensor 59 2.9.1 Type of Mobile Robot Sensor 59 2.9.2 Ultrasonic Sensor 60 2.9.2.1 Measurement Principle and Effective Use of Ultrasonic Sensor 61 2.10 Existing Projects and Research 61 2.10.1 Related Research 1: Comprehensive Locomotion Performance Evaluation 62 of All-Terrain Robots by Thomas et. al, Switzerland 2006 2.10.2 Related Research 2: Concept of a Novel Four-wheel-type Mobile 63 Robot for Rough Terrain, RT-Mover by Shuro Nakajima, U.S.A 2009 2.11 Chapter Conclusion 65

3. METODOLOGY

66 3.1 Planning 66 3.2 Project Flow Chart 67 3.2.1 Selection Project Title 68 3.2.2 Literature Review 68 3.2.3 Methodology 69 3.2.3.1 Mechanical 70 3.2.3.2 Electrical 71 3.2.3.3 Programming 73 3.2.5 Design and Development 73 ix 3.2.6 Result of Development 74 3.2.7 Discussion and Conclusion 74 3.3 Software Tools 74 3.3.1 SolidWorks 2009 75 3.3.1.1 Part Drawing 75 3.3.1.2 Assembly 79 3.3.1.3 SolidWorks Simulation 79 3.3.2 PIC Programming 80 3.3.3 Proteus Version 7.2 83 3.3.4 Pugh Method 84 3.4 Chapter Conclusion 85

4. DESIGN AND DEVELOPMENT