2021

Obstacle Avoiding Car

PROJECT TEAM MEMBER:

MUHAMMAD UMAIR HUSSAIN
MUFTI SULTAN RAZA MADNI
ABID BHAI
SUBMITTED TO:
BUSHRA
MAM SANA
 Content:

 Introduction
 Components
 Project Design
 Circuit Diagram
 Description
 Flow Chart
 Application
 Reference
Introduction:
Obstacle avoidance robot is designed in order to navigate the robot in unknown
environment by avoiding collisions. Obstacle avoiding robot senses obstacles in
the path, avoid it and resumes its running. A robot is a machine that can perform
task automatically. Robotics is generally a combination of computational
intelligence & physical machines (motors). Computational intelligence involves
the programmed instructions. The project proposes robotic vehicle that has an
intelligence built in it such that it guides itself whenever an obstacle comes ahead
of it. This robotic vehicle is built, using an Arduino UNO. An Ultrasonic Sensor is
used to detect any obstacle ahead of it and sends a command to the Arduino.
The obstacle avoidance algorithm needs to steer the robot around the obstacle &
resume motion toward the original target. The steering algorithm ensures that the
robot does not have to stop in front of an obstacle during its navigation. An
Ultrasonic Sensor is used to detect any obstacle ahead of it & sends a command to
the micro – controller.
In today’s world robotics is a fast growing & interesting field. Robot has sufficient
intelligence to cover the maximum area of provided space. Autonomous Intelligent
Robots are robots that can perform desired tasks in unstructured environments
without continuous human guidance. The obstacle detection is primary
requirement of this autonomous robot. The robot gets the information from
surrounding area through mounted sensors on the robot.

Specialties of Ultrasonic Sensor Technology:

The ultrasonic Sensor is one of the best technique which is used for sense for
obstacle. The Ultrasonic Sensor module “HC-SR04” work on “Echo” concept
which is something you get when sound reflects back after reaches the surface. The
travelling time of Ultrasonic Wave is 343m/s. This much of speed is meticulous for
MCU’s micro-controller to measure accurately. Practically the waves reflect back
from the surface located 4 meters away in 15ns. The Ultrasonic Wave does not
affect the humans. The Ultrasonic Sensor is mostly used for distance measurement
application. These sensors are able to detect the barriers present in front of them.
Ultrasonic Sensors generate sound waves with higher frequencies that humans
cannot perceive, making them ideal for quit environments. They do not consume
musch electricity, are simple in design, & are relatively in expensive.
Components:
 Arduino Uno (any version)
 Ultrasonic Sensor (HC-SR04)
 Motor Driver Module (LM-298N)
 Servo Motor
 Gear Motors
 Battery
 Wheels
 Jumper Wires
 Chassis / Frame

Project Design:
In our project the output from the Ultrasonic Sensor is given to the Arduino UNO
controller as an input to process them according to codes which are actually
embedded into the controller to provide the desired output. The basic block
diagram for the implementation of the project is as shown:
Circuit Diagram:
Description:
Basically circuit consist of following blocks:
 Arduino
 Motor Driver
 Dc Motor
 Sensor

Sensor 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 Sensor,
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 & avoidance the
ultrasonic continuously emits the frequency signals, when obstacle is detected this
signals are reflected back which then considered as input to the sensor.
Arduino UNO:
Arduino UNO is a micro-controller board. It has 14 digital input/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 & a rest button. It contains
everything needed to support the micro-controller, simply connect it to a computer
with a USB cable or power it with an AC- to DC adapter or battery to get started.
You can tinker with your UNO without warring too much about doing something
wrong, worst case scenario you can replace the chip for a few dollars & start over
again.
“UNO” means one in Italian & was chosen to mark the release of Arduino
Software (IDE). The UNO board & version 1.0 of Arduino Software (IDE) were
the reference versions of Arduino, now evolved to newer releases. The UNO board
is the first in a series of USB Arduino boards & the reference model for the
Arduino platform, for an extensive list of current, past or outdated boards see the
Arduino index of boards:
Flow Chart:
Start

Initialize Ultrasonic sensor, Servo Motor, Motor Driver

Read Distance

No Move
If Distance <=
Forward
20cm

Move Stop

Move Backward

Move Stop

Look Right

Read Right
Distance

Look Left

Read Left
Distance

Yes Turn Move

If Right Distance >= Left Distance
Right Stop
No

Turn Left
Application:
 This logic has been specially designed for vacuum cleaner by using heavy
rating motors, strong mechanical structure & using highly sensitive obstacle
sensors, it efficiently work as vacuum cleaner.
 Obstacle avoiding robots can be used in almost all mobile robot navigation
systems.
 They can also be used in dangerous environments, where human penetration
could be fatal.

Future Improvements:
 Adding a camera: If the current project is interfaced with a camera robot can
be driven beyond line of sight & range becomes practically unlimited as
network have a very large range.
 Use as firefighting robot: By adding temperature sensor, water tank &
making some changes in programming we can use this robot as firefighting
robot.

References:
 Chatelais Q, Vulture H, & Kanellis E. “Maze solving by an autonomous
Robot”, Aalborg University, 2014.
 International Journal of Computer Applications, 2012 Vol. 56, no. 5, pp. 8-
13.
 Mishra S, & Bande P, “Maze Solving Algorithms for Micro Mouse”, IEEE
International Conference on Signal Image.
 Dang H. Song J, & Guo Q, “An Efficient Algorithm for Robot Maze –
Solving”, in Proceedings of the 2010 Second.
 Gims M, “MicroMouse: Microprocessor Controlled Vehicle, “ University of
East London, London, 1999.