In our Implementation of Obstacle Avoidance and IR Control Functions for Omni Directional Mobile Robot robot we are using 8051 based microcontroller to control the IR sensor and robot Motors. Robot can move in any direction. But when any obstacle comes in front of the robot , IR sensor sense that obstacle and send appropriate signal to the microcontroller. Once the microcontroller receives IR signal then it itself having program  to give necessary control instructions to motor or it will send that IR detection signals to personal computer  using  wireless link of IR. PC having program will provide  appropriate control signals to microcontroller using IR wireless link. After receiving this signal at microcontroller, it direct that signal to the motor. In this project we going use 8051 based microcontroller. 

Main functionality of embedded system is to sense obstacle distance and then analyze the control signals to drive the motors to change the direction for the robot. IR interface is also provided on the robot to give some control signals from the Personal computer attached with IR enabled circuit. 

download  Implementation of Obstacle Avoidance and IR Control Functions for Omni Directional Mobile Robot Project .