OBSTACLES AVOIDING ROBOT

A PROJECT REPORT
Submitted by

Amit – 21010305008
Divyanshu - 21010305021
Nitin – 21010305040
Nitesh – 21010305039
Sachin_-21010305044
Sourab sharma-
21010305053

in partial fulfilment for the award of the degree of

Department
of
Electrical Engineering

Rajiv Gandhi Government Engineering College,

Kangra at Nagrota Bagwan
 DECLARATION

We hereby declare that the project work entitled

“OBSTACLES AVODING ROBOT”
submitted to the RAJIV GANDHI GOVERNMENT ENGINNEERING
COLLEGE, is a record of work done by our group under the guidance of
Mrs. Priti pundir (A.P) EE,
and this project report work is submitted in the partial fulfilment of the
requirements for the ‘project’. The results embodied in this report have not
been submitted to any other University or Institute.
 ACKNOWLEDGEMENT

We would like to express our special thanks of gratitude to all the people who
have played a crucial role in the research for this project, without their active
co- operation the preparation of this project could not have been completed
within the specified time limit.

We were very thankful to our respected Supervisor, “Mrs. PRITI

PUNDIR(A.P) EE” for motivating us to complete this project with complete
focus and attention. And special thanks to my mentors who supported us
throughout this project with utmost co-operation and patience and for helping
me in doing this project completed successfully.

Finally, I would like to thanks “Rajiv Gandhi Government Engineering College

Kangra” for providing me an opportunity to showcase my talent through this
project.
 CONTENTS
Chapter 1:
Introduction 1

Chapter 2:
Literature Review 3
Chapter 3:
Design & Hardware 5
Chapter 4:
Block Diagram 7
Chapter 5:
Working 11 - 16
Chapter 6:
Circuit Diagram 17
Chapter 7:
Applications 19
Chapter 8:
Experimental Results 21
Chapter 9:
Program 23 - 25
Chapter 10:
Conclusion 27

Chapter 11:
Reference 3
 INTRODUCTION

Robotics is part of today’s communication. In today’s world ROBOTICS

is fast growing and interesting field. It is simplest way for latest technology
modification. Now a days communication is part of advancement of
technology, so we decided to work on ROBOTICS field, and design something
which will make human life simpler in day today aspect. Thus we are
supporting this cause.

An obstacle avoiding robot is an intelligent device, which can

automatically sense and overcome obstacles on its path. Obstacle Avoidance is
a robotic discipline with the objective of moving vehicles on the basis of the
sensorial information. The use of these methods front to classic methods (path
planning) is a natural alternative when the scenario is dynamic with an
unpredictable behaviour. In these cases, the surroundings do not remain
invariable, and thus the sensory information is used to detect the changes
consequently adapting moving. It will automatically scan the surrounding for
further path.

This project is basic stage of any automatic robot.This ROBOT has

sufficient intelligence to cover the maximum area of provided space. It has a
ultrasonic sensor which are used to sense the obstacles coming in between the
path of ROBOT. It will move in a particular direction and avoid the obstacle
which is coming in its path. We have used two D.Cmotors to give motion to the
ROBOT. The construction of the ROBOT circuit is easy and small .The
electronics parts used in the ROBOT circuits are easily available and cheap too.
LITERATURE REVIEW:

We reviewed different obstacle detecting robot mechanisms that have

been built by a lot of students and other practitioners that are in existence.
For an autonomous mobile robot performing a navigation-based task in a
vague environment, to detect and to avoid encountered obstacles is an
important issue and a key function for the robot body safety as well as for the
task continuity. Obstacle detection and avoidance in a real world
environment that appears so easy to humans is a rather difficult task for
autonomous mobile robots and is still a well- researched topic in robotics. In
many previous works, a wide range of sensors and various methods for
detecting and avoiding obstacles for mobile robot purpose have been
proposed. Good references related to the developed sensor systems and
proposed detection and avoidance algorithms can be found. Based on these
developed sensor systems, various approaches related to this work can be
grouped

Robots need miscellaneous of sensors to obtain information about the world

around them. Sensors will help detect position, velocity, acceleration and range for
the object in the robot's workspace. There is a variety of sensors used to detect the
range of an object. One of the most common range finders is the ultrasonic
transducer.
Vision systems are also used to greatly improve the robot’s versatility, speed and
accuracy for its complex and difficult task. Electronic signals are sent to a mobile
robot’s motor controllers and auditory signals can guide the blind traveller around
the obstacles the developed robot uses ultrasonic range finder for detection and
mapping to avoid collision with the unexpected obstacles.

“Obstacle-avoiding robot with IR motion Sensors” has been designed and developed
,robot platform was not designed for specific task but as a general wheeled
autonomous platform. It can therefore be used for educational, research or
industrialimplementation. Students can use it to learn the microcontroller
programming usingC++, Arduino Uno compiler, IR sensors characteristics, motor
driving circuit and signal condition circuit design. Research on obstacle avoidance
robot at the polytechnic level can help students to develop communication,
technical skills and teamwork. The design of such robot is very flexible and various
methods can be adapted for another implementation. It shows that PIR sensors
are more sensitive compared to IR sensors while detecting human being
Design:

Hardware:

 Arduino UNO
 Ultrasonic sensor
 DC Motors
 Motor driver IC (L293D)
 Battery (9V)
 Jumper Wires
 Chassis
 Wheels
BLOCK DIAGRAM

The basic block diagram of the obstacle avoiding car is shown in above figure.
Mainly thisblock diagram consists of the following essential blocks.

1. Arduino uno
2. Ultrasonic sensor
3. Motor driver(L293D)

1) Arduino uno -

Arduino Uno is an ATmega 328p Microcontroller based prototyping board.

It is an open source electronic prototyping platform that can be used with
various sensors and actuators.It is used for controlling all the operation and
assign task to each device.

2) Ultrasonic sensor-

It is an Ultrasonic Range Finder Sensor. It is a non-contact based distance

measurement system and can measure distance of 2cm to 4m.Ultrasonic
sensor is mainly use to detect the obstacle

3) Motor driver -

It is a motor driver which can provide bi-directional drive current for two motors.
Working Principle:

The obstacle avoidance robotic vehicle uses ultrasonic sensors for its
movements. Arduino is used to achieve the desired operation. The motors are
connected through motor driver IC to Arduino. The ultrasonic sensor is
attached in front of the robot.

Whenever the robot is going on the desired path the ultrasonic sensor
transmits the ultrasonic waves continuously from its sensor head. Whenever
an obstacle comes ahead of it theultrasonic waves are reflected back from an
object and that information is passed to the arduino. The arduino controls the
motors left, right, back, front, based on ultrasonic signals. In order to control
the speed of each motor pulse width modulation is used (PWM).

When ultrasonic sensor detect the object which is kept inside the path it will
send the signal toward the arduino uno and according to that it will it will
rotate the motor M3 & M4 in forward direction and rotate the motor M1 &
M2 in reverse direction such way that the car get moving in left direction .

Similarly in every time when ever an obstacle in found to be in path of car it

will detect it androtate the car in left direction to avoid the obstacle.
ARDUINO UNO:

Arduino/Genuino Uno is a microcontroller board based on the ATmega328P. It

has 14 digitalinput/output pins (of which 6 can be used as PWM outputs), 6
analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an
ICSP header and a reset button. It containseverything needed to support the
microcontroller; simply connect it to a computer with aUSB cable or power it
with a AC-to-DC adapter or battery to get started.. You can tinker withyour
UNO without worring too much about doing something wrong, worst case
scenario youcan replace the chip for a few dollars and start over again.
"Uno" means one in Italian and was chosen to mark the release of Arduino
Software (IDE) 1.0. The Uno board and version of Arduino Software (IDE) were
the reference versions of Arduino, now evolved to newerreleases. The Uno
board is the first in a series of USB Arduino boards, and the reference model
for the Arduino platform; for an extensive list of current, past or outdated
boards seethe Arduino index of boards.
Motor Drivers (L293D IC)

 Motor drivers take a low current control signal but provide a higher current signal,
thus acting as a current amplifier. The higher current signal drives the motors. L293D
is a motor driver that allows direct current (DC) motor to drive on either direction. It
contains two inbuilt H-bridge driver circuits . To rotate the motor in clockwise or
anticlockwise direction, voltage need to change its direction. H-bridge is a circuit that
allows voltage to be flown in either direction. Hence H-bridge IC are ideal for driving
a DC motor .
 Here are 4 input pins for L293d, pin 2,7 on the left and pin 15 ,10 on the right as
shown on the pin diagram. Left input pins will regulate the rotation of motor
connected across left side and right input for motor on the right hand side. The
motors are rotated on the basis of the inputs provided across the input pins as LOGIC
0 or LOGIC 1. For rotating the motor in clockwise direction the input pins has to be
provided with Logic 1 and Logic 0.Enable pins 1 and 9 (corresponding to the two
motors) must be high for motors to start operating. When an enable input is high,
the associated driver gets enabled. As a result, the outputs become active and work
in phase with their inputs. Similarly, when the enable input is low, that driver is
disabled,and their outputs are off and in the high-impedance state.
Motor (100rpm/ 12V DC Motor)

 The obstacle detection and avoiding robot uses two 200rpm and 12V DC geared
motors. The motor used has a 6mm shaft diameter with internal holes. The internal
holes are for easy mounting of the wheels by using screws. It is an easy to use low-
cost motor for robotics application
 An Electric DC motor is a machine which converts electric energy into mechanical
energy. The working of DC motor is based on the principle that when a current-
carrying conductor is placed in a magnetic field, it experiences a mechanical force.

The direction of mechanical force is given by Fleming’s Left-hand Rule and

itsmagnitude is given by F = BIL Newton.
 DC motors are seldom used in ordinary applications because all electric supply
companies furnish alternating current.
ULTRASONIC SENSOR

 An Ultrasonic sensor is a device that can measure the distance to an object by using
sound waves. It measures distance by sending out a sound wave at a specific
frequency and listening for that sound wave to bounce back. By recording the
elapsed time between the sound wave being generated and the sound wave
bouncing back, it is possible to calculate the distance between the sonar sensor and
the object.
 It emits an ultrasound at 40 000 Hz which travels through the air and if there is an
object or obstacle on its path It will bounce back to the module. Considering the
traveltime and the speed of the sound you can calculate the distance.

 The HC-SR04 Ultrasonic Module has 4 pins, Ground, VCC, Trig and Echo. The Ground
and the VCC pins of the module needs to be connected to the Ground and the 5 volts
pins on the Arduino Board respectively and the trig and echo pins to any Digital I/O
pin on the Arduino Board.
 In order to generate the ultrasound you need to set the Trig on a High State for 10
µs. That will send out an 8 cycle sonic burst which will travel at the speed sound and
it will be received in the Echo pin. The Echo pin will output the time in microseconds
the sound wave traveled.
CIRCUIT DIAGRAM
APPLICATIONS

This device has application in surveying different landscapes and mapping

them. It can alsobe used in commercial devices like

 Automated lawn mover

 Smart room cleaner etc
 Obstacle avoiding robots can be used in almost all mobile
robot navigationsystems.
 They can also be used in dangerous environments, where
human penetration could befatal.
 Unmanned vehicle driving
 Mining Vehicle that uses Obstacle Detection
EXPERIMENTAL RESULT

The result is obtained for obstacle avoidance robot using Arduino, if the robot moves
forward if any obstacle detect it check for other directions and moves where there is
noobstacles it moves in forward direction, to sense the obstacle ultrasonic sensor is
used.We used servo motor to rotate the ultrasonic sensor.

The working principle of the robot is transmitting sensed signal to the

microcontroller to control theDC motors for obstacle avoidance. The direction of
the motors to move either clockwise or anti- clockwise directions as provided by
the microcontroller. Ultrasonic sensor detect a moving object while IR sensor does
not detect any object, the robot will move backward (motor 1 and motor 2 counter
clockwise).

The sensor also detects object, the robot will stop (motor 1 and motor 2 OFF). After
50 ms, motor 1 will move clockwise and the robot will turn left. After 500 ms, the
robot will move forward (motor 1and motor 2 clockwise) and after 1000ms, both
motors will stop. From the flow chart in Figure 10, itshows that the IR sensors are
very effective in sensing signals in their path for the obstacle avoiding robots to
evade obstacles in its pat
CHAPTER : 9 PROGRAM

// OBSTACLE AVOIDING CAR:

First define trig and echo pin of HC-SR04 in the program.

int trigPin = 9; // trig pin of HC-SR04

int echoPin = 10; // Echo pin of HC-SR04

Define pins for input of LM298N Motor Driver Module.

The LM298N has 4 data input pins used to control the direction of motor
connected to it.

int revleft4 = 4; //REVerse motion of Left

motor int fwdleft5 = 5; //ForWarD motion
of Left motor int revright6 = 6; //REVerse
motion of Right motor
int fwdright7 = 7; //ForWarD motion of Right motor

LM298N Motor Driver Module

In setup() function, define the data direction of utilized GPIO pins.
The four Motor pins and Trig pin is set as OUTPUT and Echo Pin is set as Input.

pinMode(revleft4, OUTPUT); // set Motor pins

as outputpinMode(fwdleft5, OUTPUT);
pinMode(revright6,
OUTPUT);
pinMode(fwdright7,
OUTPUT);
pinMode(trigPin, OUTPUT); // set trig pin as output
pinMode(echoPin, INPUT); //set echo pin as input to
capture reflected

In loop() function, get the distance from HC-SR04 and based on the distance
move the motordirection.
The distance will show the object distance coming in front of the robot.
The Distance is taken by bursting a beam of ultrasonic up to 10 us and receiving it
after 10us.

digitalWrite(trigPin,
LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // send waves
for 10 usdelayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // receive
 reflected wavesdistance = duration / 58.2; // convert
to distance
delay(10);

If the distance is greater than the defined distance means there is not obstacle in its
path and it willmoving in forward direction.

if (distance > 19)

{
digitalWrite(fwdright7, HIGH); // move
forwarddigitalWrite(revright6, LOW);
digitalWrite(fwdleft5, HIGH);
digitalWrite(revleft4, LOW);

If the distance is less than the defined distance to avoid obstacle means
there is some obstacle ahead.
So in this situation robot will stop for a while and move backwards after that again
stop for a while
and then take turn to another direction.

if (distance < 18)

{
digitalWrite(fwdright7, LOW); //Stop
digitalWrite(revright6, LOW);
digitalWrite(fwdleft5, LOW);
digitalWrite(revleft4, LOW);
delay(500);
digitalWrite(fwdright7, LOW); //movebackword
digitalWrite(revright6, HIGH);
digitalWrite(fwdleft5, LOW);
digitalWrite(revleft4, HIGH);
delay(500);
digitalWrite(fwdright7, LOW); //Stop
digitalWrite(revright6, LOW);
digitalWrite(fwdleft5, LOW);
digitalWrite(revleft4, LOW);
delay(100);
digitalWrite(fwdright7,
HIGH);
digitalWrite(revright6, LOW);
digitalWrite(revleft4, LOW);
digitalWrite(fwdleft5, LOW);
delay(500);
 CHAPTER NO: 10 CONCLUSION

CONCLUSION

The goal of our project is to create a autonomous robot which intelligently

detects theobstacle in his path and navigate according to the actions we set for
it.

The above Arduino controller and ultrasonic sensor were studied and the
HcSR-04 ultrasonic sensor was selected, as the controlling result are satisfying
for its use in the automobile prototype system bring developed. It was used to
sense the obstacle and avoidance them.
On successful implementation of obstacle avoidance algorithm was
successfully carried out too with minimal errors, by coding the algorithm in
python. Obstacle avoidance is a very good application to be used in vehicle
preventing many accidents and loss of life.

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
requiresno 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
 CHATER11- REFERENCES

REFERENCES

[1] Amir attar, aadilansari, abhishek desai, shahid khan, dip ashrisonawale “line
follower andobstacle avoidance bot using arduino” International Journal of Advanced
Computational Engineering and Networking, vol. 2, pp. 740-741, August 1987.

[2] Aniket D. Adhvaryu et al “Obstacle-avoiding robot with IR and PIR motionSensors”

IOP Conference Series: Materials Science and Engineering, vol. A247, pp. 529-551, April
2005.

[3] Vaghela Ankit1, Patel Jigar2, Vaghela Savan3 “Obstacle Avoidance Robotic Vehicle Using
Ultrasonic Sensor, Android And Bluetooth For Obstacle Detection” International Research
Journal of Engineering and Technology (IRJET), vol. A247, pp. 29-32, 2005.

[4] Paul Kinsky,Quan Zhou “Obstacle Avoidance Robot” Worcester polytechnic institute.

[5] FaizaTabassum, SusmitaLopa, Muhammad MasudTarek& Dr. Bilkis Jamal Ferdosi

“obstacle avoidance car”Global Journal of Researches in Engineering: HRobotics & Nano-
Tech.

[6] Bhagya shree S R , Manoj kollam “Zigbee Wireless Sensor Network For Better
Interactive Indus

WEBSITES:
 https://www.ijcaonline.org/archives/volume56/number5/8885-2882
 https://ieeexplore.ieee.org/document/4725791
 https://www.sciencedirect.com/science/article/pii/S1877050917302107
 http://www.datasheetcatalog.com
 http://www.instructabal.com
 http://en.wikipedia.org/wiki/Artificial_intelligence
 http://science.howstuffworks.com/robot2.htm
 http://arduino.cc/en/Main/arduinoBoardUno

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