Let's Make Robots!

Cerberus v2

Auto Navigate using SRF05 Sensors
Cerberus.pde4.03 KB

Parts List

2 x 15cm 5mm Perspex Circles

2 x 100:1 MFA Como Drills 3-9V Motors

1 x Arduino Mega

2 x SRF05

1 x PP3 Battery Holder and Battery  to power the Arduino

1 x 3xAA Battery Holder and Batteries to power the motors through Motor Driver Shield (using PWM)

2 x Mecano Wheels

1 x Piezo Transducer

2 x LED

Various Nuts and Bolts.

Any Comments Welcome.



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Morning IgnobleGnome,


The navigation is pretty decent it will coast around all day and not bump into a single object unless its below its eye level of course. Also I programmed in so that the distance at which the bot recognises an obstacle is also changeable.

I first though upon using 3 SRF05's for the navigation, left, center and right. But then decided upon the cross eyes approach. In doing this I am able to scan both left, right and center using only two censors. please refer to the truth table below. The cone shape of the censors does pose a slight problem when they are so close together, but I have managed to calibrate them so that where they are now they are both just out of scan range of each other. I also leave 65ms between each send and receive echo sequence to allow the previous echos to die out, this eliminates any interference.


Left SensorRight SensorStatusAction
No ObstacleNo ObstacleClearMove Forward
ObstacleNo ObstacleRight ObstacleSlight Left Turn
No ObstacleObstacleLeft ObstacleSlight Right Turn
ObstacleObstacleCenter ObstacleBroad Turn (Left or Right)

Also, cheers for the sock compliments :-)

Sure i have some in 3gp from my phone i will convert and upload, also change the code to be in file format. :-)



Cool looking bot, and an Arduino Mega should give you lots of room to experiment.

One suggestion: Your code is all full of formatting gobbledygook. Instead of cut and pasting it into the post, you can attache it as a file. Much cleaner.

Any chance you can post some video of it in operation?