Fundamentals of Robotics and it's applications
(24EC212)
Event 2
“OBSTACLE AVOIDANCE ROBOT USING ARDUINO UNO”
Submitted by :
Roll No USN Student Name
26 02JST24UEV026 Manoj Kumar V
27 02JST24UEV027 Mohammed Ayub
35 02JST24UEV035 Prajwal M R
Submitted to:
Prof. Rakesh M D
Assistant Professor
Department of Electronics & Communication Engineering
SJCE, JSS S&TU Mysuru
Department of Electronics and Communication Engineering
2024-2025
Department of Electronics and Communication Engineering
Rubrics for Event
Student Name: Manoj Kumar V
Course Name: Fundamentals of Robotics and its Applications.
Course Code: 24EC212
Course Coordinator: Prof Rakesh M D
Sl.no Rubrics Marks
1. Originality of the work Literature review (05)
2. Execution of work (05)
3. Results and presentation (05)
4. Report (05)
Total
Department of Electronics and Communication Engineering
Rubrics for Event
Student Name: Mohammed Ayub
Course Name: Fundamentals of Robotics and its Applications.
Course Code: 24EC212
Course Coordinator: Prof Rakesh M D
Sl.no Rubrics Marks
1. Originality of the work Literature review (05)
2. Execution of work (05)
3. Results and presentation (05)
4. Report (05)
Total
Department of Electronics and Communication Engineering
Rubrics for Event
Student Name: Prajwal M R
Course Name: Fundamentals of Robotics and its Applications.
Course Code: 24EC212
Course Coordinator: Prof Rakesh M D
Sl.no Rubrics Marks
1. Originality of the work Literature review (05)
2. Execution of work (05)
3. Results and presentation (05)
4. Report (05)
Total
Table of Contents:
Sl. No. Section Title Page No.
1 Introduction 1
2 Literature Survey 1-2
3 Methodology 2-3
4 Applications 3
5 Flow Chart 3
6 Results and Discussion 3
7 Conclusion 4
8 References 4
Obstacle Avoidance Robot Using Arduino
Manoj Kumar V1*, Prajwal M R2, Mohammed Ayub3, Rakesh M D4
1,2,3
Student, Department of Environmental Engineering, JSS Science and Technology University, Mysuru, India
4
Assistant Professor, Department of Electrical & Communication Engineering,
JSS Science and Technology University, Mysuru, India
Abstract—The project is design to build an obstacle avoidance
robotic vehicle using ultrasonic sensors for its movement. A
sensors has been limited by their poor tolerance to light
microcontroller (ATmega328) is used to achieve the desired reflections such as ambient light or bright object colors.
operation. A robot is a machine that can perform task No object recognition at the dead zone area, for example
automatically or with guidance. The project proposes robotic Sharp GP2D12 IR distance sensor dead zone between 0 to 4
vehicle that has an intelligence built in it such that it directs cm. IR sensors also give inaccurate detection result with
itself whenever an obstacle comes in its path. This robotic transparent or bright color materials. Detection results also
vehicle is built, using a micro-controller of AT mega 328 family.
depend on the weather conditions and the sensing reliability
An ultrasonic sensor is used to detect any obstacle ahead of it
of IR sensors decreases with moisture and humidity.
and sends a command to the micro-controller. Depending on
the input signal received, the micro-controller redirects the
Furthermore, IR sensors can sense IR radiation from the
robot to move in an alternate direction by actuating the motors sunlight, which can cause correctable or non-correctable
which are interfaced to it through a motor driver. Some of the errors at output. Besides that, if analogue IR sensor is used,
project is built with the IR sensors has its own application so in signal losses will occur at the amplifier circuit. Meanwhile,
our project those application is not compactable so we are using PIR motion sensor needs a long calibration time and is
ultrasonic sensor. sensitive to thermal radiation. Besides that, PIR sensor is
insensitive to very slow motions or to objects in standing
Key words – Arduino UNO, motor shield L293d, ultrasonic mode [2].
sensor HC-SR04, DC Motor, servo motor
II. LITERATURE SURVEY
I. INTRODUCTION “line follower and obstacle avoidance bot using arduino”
Obstacle avoidance Robot is designed in order to navigate has been designed and developed by Aamir attar, Aadilansari,
the robot in unknown environment by avoiding collisions. Abhishekdesai, Shahid khan, Dipashrisonawale to create an
Obstacle avoiding robot senses obstacles in the path, avoid it autonomous robot which intelligently detects the obstacle in
and resumes its running. There are some very popular its path and navigates according to the actions that user set
methods for robot navigation like wall-following, edge for it. So this system provides an alternate way to the existing
detection, line following and many more. A more general and system by replacing skilled labor with robotic machinery,
commonly employed method for obstacle avoidance is based which in turn can handle more patients in less time with
on edge detection. A disadvantage with obstacle avoidance better accuracy and a lower per capita cost [1].
based on edge detecting is the need of the robot to stop in
front of an obstacle in order to provide a more accurate “Obstacle-avoiding robot with IR and PIR motion
measurement. All mobile robots feature some kind of Sensors” has been designed and developed by Aniket D.
collision avoidance, ranging from primitive algorithms that Adhvaryu et al has proposed that developed robot platform
detect an obstacle and stop the robot in order to avoid a was not designed for specific task but as a general wheeled
collision, using some sophisticated algorithms that enable the autonomous platform. It can therefore be used for
robot to detour obstacles. The latter algorithms are more educational, research or industrial implementation. Students
complex, since they involve detection of an obstacle as well can use it to learn the microcontroller programming using
as some kind of quantitative measurements concerning the C++, Arduino Uno 1.6.5 compiler, IR and PIR sensors
obstacle's dimensions. characteristics, motor driving circuit and signal condition
circuit design. Research on obstacle avoidance robot at the
Once these have been determined, the obstacle avoidance polytechnic level can help students to develop
algorithm needs to steer the robot around the obstacle and communication, technical skills and teamwork. The design of
resume motion toward the original target. The steering such robot is very flexible and various methods can be
algorithm ensures that the robot does not have to stop in front adapted for another implementation. It shows that PIR
of an obstacle during its navigation. An ultrasonic sensor is sensors are more sensitive compared to IR sensors while
used to detect any obstacle ahead of it and sends a command detecting human being [2].
to the micro-controller [10] Hence the robots may overcome
some of the problems during navigation, which are discussed “Obstacle Avoidance Robotic Vehicle Using Ultrasonic
above and it can navigate smoothly during its operation Sensor, Android and Bluetooth for Obstacle Detection” has
avoiding the collisions. if we were use the IR sensor Infrared been designed and developed by Vaghela et.al has mentioned
sensors detect the object's distance with infrared radiation. that enormous amount of work has been done on wireless
When the beam detects an object, the light beam returns to gesture controlling of robots. Various methodologies have
the receiver with an angle after reflection there is a been analyzed and reviewed with their merits and demerits
limitations in sensor those limitations are Performance of IR under various operational and functional strategies. Thus, it
can be concluded that features like user friendly interface,
light weight and portability of android OS based smart phone microcontroller. Pulse In function is used for calculating the
has overtaken the sophistication of technologies like time of distance from the obstacle. Every time the function
programmable glove, static cameras etc., making them waits for pin to go high and starts timing, then timing will be
obsolete. Although recent researches in this field have made stopped when pin go to low. It returns the pulse length in
wireless gesture controlling a ubiquitous phenomenon, it microseconds or when complete pulse was not received
needs to acquire more focus in relevant areas of applications within the timeout it returns. The timing has been determined
like home appliances, wheelchairs, artificial nurses, table top means it gives length of the pulse and will show errors in
screens etc. in a collaborative manner [3]. shorter pulses. Pulses from 10microseconds to 3 minutes in
length are taken into consideration.
“Obstacle Avoidance Robot” has been designed and
developed by Paul Kinsky,Quan Zhou mentioned that robot After determining the time, it converts into a distance. If
with a few mechanical components to add two more the distance of object is moderate then speed of robot get
functions to the main body, namely the laptop holder and the reduced and will take left turn, If obstacle is present in left
camera holder. AT89S52 development board is designed, side then it will take right turn.
developed and tested in a large scale, which was used to
control the motors smoothly. the cameras with relatively low If the distance of object is short then speed of robot get
reduced and will turn in backward direction and then can go
cost are fixed and adjusted on the camera holder for good
calibration of the computer vision.Users establish the serial in left or right direction. This robot was built with an Arduino
development board on which microcontroller is placed.
communication method between the upper laptop and the
lower development board with USB port. The laptop will
send out a signal of the motor condition to the development TABLE I. INPUT PINS FOR MOVEMENT
board [4]. “obstacle avoidance car” has been designed and
developed by FaizaTabassum, et.al has mentioned that Movement Pin10 Pin11 Pin 12 Pin 13
Obstacle Avoidance Car successfully detects and avoids Forward 1 0 0 1
obstacles. Simple algorithms used to steer and reducing the Backward 0 1 1 0
turning radius, successfully navigated the vehicle. In
Left 1 0 1 0
conclusion, the group successfully interfaced every
component that was originally planned. Timer interrupts for Right 0 1 0 1
IR pulse generation. Obstacle detection using IR transceiver.
Servo mechanism using PWM. Steering system using Lego Arduino board is connected with DC Motor through
and Servo. [5]. Motor driver board (pin10, pin11, pin12, pin13) which
provides power to the actuators. Actuators are used to move
III. METHODLOGY robot in Forward, Backward, Left and Right directions. The
brief description of inputs pins for movement of robot is
The basic block diagram for the implementation of the given in below in table. The movement of robot will be stop
project is as shown in figure1. whenever there is an obstacle is present on its path which can
be detected by ultrasonic sensors. Ultrasonic sensors give
time in length to the microcontroller as an input for further
actions.
A. Sensors For Obstacle Avoidance
Varieties of sensors are available which can be used for
the detection of obstacles some of the very popular sensors
are: Infrared sensors (IR), Ultrasonic sensors, Cameras,
which can be used as a part of Computer Vision, Sonar. It can
measure the distance in its field of view of about thousands to
hundreds points In the design of robot, we are using
ultrasonic sensors for obstacle detection and avoidance The
ultrasonic sensors continuously emits the frequency signals,
when obstacle is detected this signals are reflected back
Fig. 1. Block Diagram of the system which then considered as input to the sensor.
The sonar system is used in HC-SR04 ultrasonic sensor to
determine distance to an object like bats do. It offers
excellent non-contact range detection from about 2 cm to 400
cm or 1feet to 13 feet. Its operation is not affected by sunlight
or black material. The ultrasonic sensor emits the short and
high frequency signal. If they detect any object, then they
reflect back echo signal which is taken as input to the sensor
through Echo pin .Firstly user initialize Trigger and Echo pin
as low and push the robot in forward direction. When
obstacle is detected Echo pin will give input as high to
Fig. 2. Ultrasonic Sensor
The ultrasonic sensor consists of a multi vibrator, which
fixed at its base. The multi vibrator is combination of a
resonator and vibrator the ultrasonic waves generated by the
vibration are delivers to the resonator. Ultrasonic sensor
actually consists of two parts: the emitter which produces a
40 kHz sound wave and detector which detects 40 kHz
sound wave and sends electrical signal back to the
microcontroller. HC-SR04 ultrasonic sensors are used
which consist of 4 pins VCC, Trigger, Echo and GND
Features of Ultrasonic Sensor:
Compact and light weight
High sensitivity and high pressure
High reliability
Power consumption of 20mA
Pulse in/out communication
Narrow acceptance angle
Provides exact, non-contact
separation estimations within 2cm
to 3m
The explosion point LED shows estimations
in advancement
3-pin header makes it simple to connect
utilizing a servo development link
IV. APPLICATIONS
1. Used in mobile robot navigation systems
2. Used for household work like automatic
vacuum cleaning
3. Used in dangerous environments,
where human penetration could be fatal. Fig. 3. Flow chart of obstacle avoidance robot
4. Automatic change over’s of traffic signals
5. Intruder alarm system
6. Counting instruments access switches VI. RESULT
parking meters The result is obtained for obstacle avoidance robot
7. Back sonar of automobiles using Arduino, if the robot moves forward if any obstacle
detect it check for other directions and moves where
V. FLOW CHART there is no obstacles it moves in forward direction, to
sense the obstacle ultrasonic sensor is used. We used
Figure 4 shows the Flow Chart of the working of the servo motor to rotate the ultrasonic sensor
obstacle avoidance robot. Initially it checks obstacle
within 30cm.If there is an obstacle it stops moving and
turns towards left and checks if there is an object closer
than 30 cm . The check has two possible outcomes, yes
or no. Yes, meaning that there is indeed some object
closer than 30 cm. No, meaning that there is no objects
detected within 30cm. If there is nothing within 30 cm
the robot can simply move forward as the path is clear.
If there is something closer than 30 cm the robot must
perform obstacle avoidance .The first stage of obstacle
avoidance is to stop the robot! If you don't stop the
robot immediately it will crash! After the robot has
stopped it needs to see what way it should go. It does
this by looking both directions, much like you should
when you cross the road. First the robot turns left, takes
a reading, turns right, and takes a reading. Another
check occurs to see what direction is the best way to
go. If left is the way to go it has to turn back to the left Fig. 4. Result of the project
and then go forward. If right is the way to go the robot
simply moves forward as it is already facing in the
right direction.
VII. CONCLUSION AND FUTURE SCOPE
This project developed an obstacle avoiding robot to detect
and avoid obstacles in its path. The robot is built on the
Arduino platform for data processing and its software
counterpart helped to communicate with the robot to send
parameters for guiding movement. For obstacle detection,
three ultrasonic distance sensors were used that provided a
wider field of detection. The robot is fully autonomous and
after the initial loading of the code, it requires no user
intervention during its operation. When placed in unknown
environment with obstacles, it moved while avoiding all
obstacles with considerable accuracy. In order to optimize the
movement of the robot, we have many considerations for
improvement. However, most of these ideas will cost more
money and time as well. In future cameras can be used to
detect the obstacle however, it is better to get CCD or
industrial use ones to get clear and fast pictures. Even the
ones we mentioned in the camera holder part will be better
because of the special software.
REFERENCES
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“line follower and obstacle avoidance bot using arduino” International
Journal of Advanced Computational Engineering and Networking, vol. 2, pp.
740-741, August 1987. [2]
[2] Aniket D. Adhvaryu et al “Obstacle-avoiding robot with IR and PIR
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vol. A247, pp. 529-551, April 2005.
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Obstacle Detection” International Research Journal of Engineering and
Technology (IRJET), vol. A247, pp. 29-32, 2005.
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