OBSTACLE AVOIDING ROBOT

USING ULTRASONIC SENSOR AND

ARDUINO

A Synopsis Submitted
As part of the Term work Requirement
In the Course

Engineering Physics I

Of the

Bachelor of Engineering

Program under

University of Mumbai

By

ROLL. NO. NAME OF THE STUDENTS BRANCH

9301 KRISHA DEEPAK VORA COMPS
9310 CHIRAG SANJAY JADHAV MECH
9318 KUNAL HARESHWAR KORE MECH
9321 DHRUV SANJAY MAHADIK MECH
9322 TEJAS SHANTARAM MAHANGADE MECH

April – 2021

DEPARTMENT OF SCIENCE & HUMANITIES

Fr. CONCEICAO RODRIGUES COLLEGE OF ENGINEERING
Fr. AGNEL ASHRAM, BANDSTAND, MUMBAI-400050
1. INTRODUCTION/ABSTRACT:

We proposed a robot that avoids the obstacle which comes in its path this robot
is introduced because in many of the industries we have seen that many heavy
components which they must move for one place to another place which is not
possible without the help of machines. With this we got idea and we introduce
the robot named as Obstacle avoidance robot using Arduino. Obstacle avoidance
robot is design to allow robot to navigate in unknown environment by avoiding
collisions. Obstacle avoiding robot senses obstacles in the path, avoids it and
resumes its running. We have made use of sensors to achieve this objective. We
have used four D.C. MOTORS i.e., battery operated motors. The construction
of the robot circuit is easy and small. The main component behind this robot is
Arduino UNO which is a brain of this robot. The best part of our project is that
if any obstacle is encountered by the robot the robot automatically stops.

2. SCHEMATIC/ FUNCTIONAL BLOCK DIAGRAM:

Arduino is the main processing unit of the robot. Out of the 14 available digital
I/O pins, 7 pins are used in this project design.

The ultrasonic sensor has 4 pins: Vcc, Trig, Echo and Gnd. Vcc and Gnd are
connected to the +5v and GND pins of the Arduino. Trig (Trigger) is connected
to the 9th pin and Echo is connected to 8th pin of the Arduino UNO,
respectively.
A Servo Motor is used to rotate the Ultrasonic Sensor to scan for obstacles. It has
three pins namely Control, VCC and GND. The Servo Control Pin is connected
to pin 11 of Arduino while the VCC and GND are connected to +5Vand GND.

L293D is a 16 pin IC. Pins 1 and 9 are the enable pins. These pins are connected
to +5V. Pins 2 and 7 are control inputs from microcontroller for firstmotor. They
are connected to pins 6 and 7 of Arduino, respectively.

Similarly, pins 10 and 15 are control inputs from microcontroller for second
motor. They are connected to pins 5 and 4 of Arduino. Pins 4, 5, 12 and 13 of
L293D are ground pins and are connected to Gnd.

First motor (consider this as the motor for left wheel) is connected across thepins
3 and 6 of L293D. The second motor, which acts as the right wheel motor, is
connected to 11 and 14 pins of L293D.

The 16th pin of L293D is Vcc1. This is connected to +5V. The 8th pins areVcc2.
This is the motor supply voltage. This can be connected anywhere.
between 4.7V and 36V. In this project, pin 8 if L293D is connected to +5V
supply.

When the robot is powered on, both the motors of the robot will run normally, and
the robot moves forward. During this time, the ultrasonic sensor continuously
calculates the distance between the robot and the reflective surface.

This information is processed by the Arduino. If the distance between the robot and
the obstacle is less than 15cm, the Robot stops and scans in left and right directions
for new distance using Servo Motor and Ultrasonic Sensor. If the distance towards
the left side is more than that of the right side, the robot will prepare for a left turn.
But first, it backs up a little bit and then activates the Left Wheel Motor in reversed
in direction.

Similarly, if the right distance is more than that of the left distance, the Robot
prepares right rotation. This process continues forever, and the robot keeps on
moving without hitting any obstacle.
 3. LIST OF MATERIALS/COMPONENTS

Sr.No Material / Component Cost

1. Ultrasonic sensor 100

2. Arduino uno 350

3. Motor driver 160

4. Dc power Switch 70

5. TT gear Motor(4x) 290

6. Servo motor 100

7. Wheels (4x) 70

8. Acrylic board 0

9. Batteries (2x) 40

10 Male and female jumper wire 100

total 1280

4. Application (If Any)

➢ Obstacle avoiding robots can be used in almost all robotic navigation

systems.
➢ They can be used for household work like automatic vacuum cleaning.
➢ They can also be used in dangerous environments where human
penetrations could be fatal.

5. Plan of Work

The project must require as calculated on the estimated time of 5-6

hours. The members would meet at a common place. Out of materials
required for project, most of the components are ordered online. Firstly,
the Arduino, motor controller, ultra-sonic sensor is used. Ultra-sonic
sensor and Motor controller is connected to the Arduino motor controller
controls the motors and ultra-sonic sensor is connected to detect
obstacles and to avoid them, then the codes were applied for avoiding
obstacles.

6. REFERENCES

➢ https://www.youtube.com/watch?v=h-B42_HXL00&t=255s
➢ https://www.edgefx.in/sensor-based-projects-ideas-engineering-
students/