This robot is equipped with a pair of radio frequency transmitter and receiver attached with the motors, two inputs IR(sensors) and two outputs (motors). As shown in the figure.

S :stand for a switch.

The Input from the Infra Red Sensors is taken and fed to the Microcontroller, the microcontroller take requisite action. And avoid the hurdle.

The relationship between the sensors and the motors can be described in the table below (where +1 means on and -1 means off).

If a sensor is on it means the switch is activated or pressed. This is of course not a random table. Imagine the hurdle is on the front of a robot vehicle, and the motors drive this robot. If both sensors are high the robot has made a frontal collision and should reverse both motors. If the left front sensor is high the right motor has to reverse (thus the robot turns right), similar for the right front sensor. If none of the sensors is active the motors should run.

of course this table is simple enough to be programmed into the robot.

            TABLE FOR THE MOTION OF PIONEER

This is of course not a random table. Imagine the hurdle is on the front of a robot vehicle, and the motors drive this robot. If both sensors are high the robot has made a frontal collision and should reverse both motors. If the left front sensor is high the right motor has to reverse (thus the robot turns right), similar for the right front sensor. If none of the sensors is active the motors should run, of course this table is simple enough to be programmed into the robot.

The wireless control is done with the help of the radio freq receiver there are four frequencies which are connected with the Pioneer Motor so that they make all possible combination of the motion, the wireless communication is done with the help of a switch which transform the control to the user and to the autonomous motion.

The receiver situated at the Pioneer body take the input from the controlling node and performs the action accordingly, while the position and direction transmission is done with the help of the radio frequency transmitter which is directly connected to the motor when the Pioneer is self autonomous mode at that time the appropriate

Frequency is send by the Pioneer to the controlling node where the receiver is directly connected to the parallel port and the visual basic program at the controlling node draw the graph accordingly, in this way the wireless control was established  and the graph is plotted at the controlling node. The different frequencies are transmitted from the parallel port with different values as shown in the figure-- 

 TABLE FOR THE WIRELESS CONTROL