Walli Wajahat BhattiMuhammad Saad KhanMuhammad Mohsin Bilal2025-12-252025-12-252012https://escholar.umt.edu.pk/handle/123456789/18005The autonomous ball picker robot is a self-governing robot, intelligent in hurdle detection within the tennis court. The infra-red sensors are used at the front of the robot to avoid its collision with the walls of the court or any other hurdle in between its movement. While moving forward, when the front left sensor detects any hurdle or the wall, the robot will move back for one second and then turn to the right (90 degree) and then move in the forward direction. If the right sensor detects an obstacle, the robot will move back for one second and then have a left rotation (90 degree) and then move forward. If both sensors detect a straight wall in front of it, the robot will move back for one second and then perform an anticlockwise (180 degree) rotation and then move forward. The robot detects the ball using infra-red sensors inside the blades. Whenever the ball comes in between the blades, the IR sensor will detect it, and the blades will start their rotation for a second. Within this time, the ball is taken inside the cart, and the counter adds it and displays it on the LCD. The DC motors are driven using the L-298 H-Bridge driver, and the motor rotation depends upon the sensor output controlled by the PIC 16F877A controller, where ADC conversion is performed, and the whole program is written using PROTON IDE.enThesis