Design and Implementation of an Intelligent Autonomous Robot System Maan M. Shaker Technical College/ Mosul, Iraq Safaa S. Omran College of Electrical and Electronic Techniques, Iraq Ali A. Abdullah College of Electrical and Electronic Techniques, Iraq Abstract Intelligent Autonomous Robot (IAR) is one of the modern research topics, it is used in home applications, commercial, research and military applications. The robot is designed and implemented to avoid obstacles and search for target with indoor environment. The three wheels configuration with differential driver to achieve the Zero Turn Radius (ZTR) is investigated practically. MATLAB is used as an integrated programming environment to achieve Digital Image Processing (DIP), Artificial Neural Network (ANN) and computer interface. DIP is used to enhance the captured image from camera and extract the Region Of Interest which is the first step in target detection. The ANN is used to recognize the target. The distance measurement used to avoid obstacle is carried out by using the camera and the laser beam, while vision software starts when extracting the laser point from captured image to find the distance. The implemented IAR is tested in three paths that have different numbers of obstacles in the college Labs practically. The first path contains only one obstacle, the second path has five while the latest has eight obstacles. 1. Introduction The evolution of robotics technology has led to a safer and more efficient workplace. The use of robots in high- risk areas, such as those that utilize harmful chemicals or hazardous processes, reduces the possibility of damage in industrial accidents. Robots are also utilized to perform monotonous tasks more productively than the average human worker. A typical task that would be performed by a robot may consist of traveling through the work environment, locating an object, retrieving that object, and bringing it to a specific location. This allows workers to reduce the time spent on menial tasks and devote their skills to more creative tasks [1]. Vision is extensively being used for autonomous robot navigation as it offers a 'rich' sensory system [2]. Autonomous robots' vision is very important part in their navigatin system [3].The current challenge in using computer vision lies not in the collection or transmission of visual data, but in the perception of visual data to extract from it useful information [4]. The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate “unmanned” requires extensive theoretical as well as practical knowledge. An autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serve as the major limitation of the overall performance, accuracy and robustness of an autonomous vehicle [5]. This paper demonstrates the design and implementation of an intelligent autonomous robot. By using a Personal Computer (PC), microcontroller, external driver circuits, and camera systems, a robot may be constructed in an efficient and cost effective manner. 2. The Proposed System This section is focused on two important aspects; hardware and software. The hardware aspects could be divided into station and mobile part, were each one will explained in details. The software aspect explains all the algorithms required to control the operation of IAR. 2.1. Hardware Description The IAR block diagram is shown in Fig. 1. It is consisted of two main parts: 1. Stationary part: which consists of a) PC that is used to achieve the DIP and ANN. b) Video In Adaptor (VIA) to capture the video signal and wireless transmitter to send the computational result to the mobile part. 2. Mobile part: which consists of a) Microcontroller which acts as a slave brain to encode the received code from station part and to control motors. b) 12V battery. c) Three motors that are used to move the robot and to rotate the camera. d) Three H-bridges are used to control the motors. e) Wireless camera which is important for target detection. f) Laser beam with camera for distance measurement. Following are a description of some important parts of the IAR. 2.1.1. Personal Computer. The Personal Computer (PC) is the main brain or master brain for the robot. It is 2008 International Conference on Automation, Robotics and Control Systems (ARCS-08) 131