Sir Bhavsinhji Polytechnic Institute, Bhavnagar

Mini project AT

obstacle avoiding car

A REPORT

Submitted by

Raval smit
(166490302092 )

In fulfilment for the award of the degree

Of

DiplomaEngineering
In

Automobile Department

GujaratTechnological University, Ahmadabad

2021-22
 CERTIFICATE

Automobile Department

2022

Date:

This is to certify that the dissertation entitled Study based mini project
report Topic ___________________________________ has been
carried out by____________________________________ under my
th
guidance in fulfilment of the Diploma of Engineering in Automobile (6
Semester) of Gujarat Technological University, Ahmadabad during the
academic year 2022.

Guided By:

Reviewed By:

Examiner Sign: H.O.D.

AUTOMOBILE DEPARTMENT
SIR B.P.T.I, BHAVNAGAR
 ACKNOWLEDGEMENT

I have a great many thanks to a great many people who helped and guided me during
the industrial training.

I have my profound gratitude to our project guide, lecturerName Mr. T P

Gandhi(Lecturer Automobile Department) to keep study based Industrial training project work
and guided us all along till the completion by providing all the necessary information for the
development of good system.

I have immense pleasure in expressing my thanks and gratitude to Mr.hiren patel Head
of the Department and b.r.patel Principle Sir B.P.T.I. for his guidance and encouragement.

The written work has as unfortunate tendency to generate genuine gratitude in fill
formality who ever this the only way are have to record the feeding permanently thus sub to
study based Industrial training project work given the full of condition and makes me an
experienced person.

First of all therefore I wished to offer my sincere thanks to all for their help during the
project workfor all of their expert guidance and support inspect of their busy schedule with
their patience understanding and work of encouragement the training would not have
successes.

- Your Name&
Enrollment no
 Contents of topic

No Chapters Page
no
1 Introduction 3
2 Problem reacherch 4
3 Basic principal 4
4 Component used 4
4.1 Ultrasonic sensors 4
4.2 Aurdino 5
L293 motor drive
4.3 6
Bo motors
4.4 7
5 Connections 8
6 Programming aurdino Uno 10
7 Results 10
8 Issues 11
9 Conclusion 11
OBSTACLE AVOIDING CAR

1. INTRODUCATION :

 An obstacle avoiding robot is an autonomous robot which is able to avoid

any obstacle it face when it moves.

 Simply, when it met an obstacle while it moving forward, automatically stop

moving forward and makes a step back then it takes a little turn and moves
forward with the same loop

 This obstacle avoiding robot we are demonstrating here is very helpful and
this is a simple demonstration of obstacle avoiding process for sophisticated
technologies and machines

 It is the base of many large projects such as Automatic cars, robots used in
Manufacturing factories, even in robots used in spacecraft’s or interplanetary
robotic missions like Mars rover.
2. Research Problem:

necessary requirement of every autonomous mobile robot is obstacle

avoidance. This obstacle avoidance feature is of high importance in a robot’s
navigation system in an unknown area so as to prevent collisions during its
operation. It is necessary for an autonomous robot to avoid collisions in
order to prevent damage to the object or to the robot itself. Application areas
where obstacle avoidance is necessary include automatic vacuum cleaners
and helicopters. Even in robots which work in a familiar environment and
the path of the robot has been adequately defined, some 2 environmental
changes could occur and cause the robot to run into an object in its way so it
is necessary for the robot to be able to adapt to the change by avoiding any
objects in its path. This problem of effective trajectory planning is what has
led to the need for a robot that can detect and avoid objects in a pre-
computed path, or objects that appear suddenly. The solution to this
trajectory problem involves the use of sensors by the robot to detect objects
and avoid them thereby making the robot to be more independent since it
would not require external influence.

3.Basic principle:

The robot uses Ultrasonic sensor to detect the obstacle and motor driver is
used to drive the motor according to the ultrasonic signal as per code written
in the Arduino

4.Components used:

 In this robotic project we are using following components: Arduino

UNO
 2 Wheel Drive robotic chassis
 Two DC BO motors
 L293 motor driver
 HC-SR04 Ultrasonic sensor
Switch
 9v Batteries and connector
 Jumper wires
 Caster
 Nut-Bolts, Spacer
 Other supporting components and tools

4.1 Ultrasonic sensor

The ultrasonic sensor has a signal generator and a receiver. The signal
generator generates an ultrasonic wave and transmits in the forward
direction. The transmitted wave strikes any obstacle in its path and a huge
part of it gets reflected. The receiver receives the reflected wave.

(Ultrasonic sensor)
The obtained values from the ultrasonic sensor need to be calibrated in order
to get a meaningful data (distance). The distance of the object is calculated
on the basis of the time taken by the wave in the process of transmission,
reflection and collection

The word ‘ultra’ means ‘beyond’ and sonic means ‘sound’. Combining the
two of them together ultrasonic is a sound which is above the human hearing
range (20 KHz). An Ultrasonic sensor is a sensor that can detect ultrasound
waves by converting the waves into electric signals or vice versa [20], [21],
[22]. An ultrasonic sensor is capable of measuring the total distance between
itself and an object by sending out a wave at a certain frequency and
listening for that wave to bounce back to it. During this, it records the tame
taken between when the wave was generated and when it bounced back in
order to calculate the distance between it and an object [23].

 It is used in robots to detect and avoid obstacles in the path of the

robot.
 It is used to measure distance within a wide range (200cm-400cm)
 It can be used for mapping of objects around a sensor by rotation of
sensor.
 Since the Ultrasonic waves are capable of penetrating water,
 it can be used to measure depths of
 places like pits, wells, etc. [26].

4.2 Arduino

Arduino is an open-source electronics platform based on easy-to-use

hardware and software. Arduino boards are able to read inputs (Like-light on
a sensor, a signal of a button, or a signal from sensor etc) and turn it into an
output (Like- activating a motor, turning on an LED, publishing something
online etc). We can tell our board what to do by sending a set of language
and the arudino sensor ide
 (arduino)

instructions to the microcontroller on the board. To do so we use the

Arduino programming

In this project, to avoid the obstacle in the path, a condition is put in the
system which says: if the distance between the robot and the object gets
below a certain level, stop the robot and take a backward motion and then
turn the robot into other direction and continue the loop. This logic is
applied to the system by writing the code in the arduino

4.3 L293 motor driver:

(Motor driver)
We now have the conditions set up for the robot car but it needs to be
executed/implemented on the hardware. The hardware used is the DC motor.
To drive these DC BO Motors, we need motor driver. In this project we are
using L293 motor driver. Motor driver is used to send the commands to
motors according to signal received from Arduino.

4.4 BO Motors:

DC Gear Motor Figure 3.6 DC Gear Motor. (Adapted from Allaboutcircuits,

2017) DC Gear Motors are the most common kind of motors which convert
electrical to mechanical energy. A gear motor consists of a gearbox and a
motor. The addition of a gear head to a motor reduced the speed while
increasing the torque output. Important parameters in gear motors include:
 Speed (rpm)
 Efficiency (%)
 Torque (lb.-in)
 The factors to consider before selecting a gear motor for any
application include: Speed
 Load
 Torque requirements

(motor)
 Two motors are used in this process: left motor and right motor. To move
the robot car forward, both the motors are turned on. For backward step,
both motors need to run in opposite direction. To turn the robot car to avoid
obstacle, one of the motor is reversed for a while, keeping the other motor
forward.

5. Connections:

Motor Driver connection:

 Vin → 9v Battery (+)ve
 GND → 9v Battery (-)ve
 M1 → Left Motor connection
 M2 → Right Motor connection
 IN1 and IN2 → Arduino 4 and 5 (If motor runs in wrong direction, connection is
swapped)
 IN3 and IN4 → Arduino 6 and 7 (If motor runs in wrong direction, connection is
swapped)

Ultrasonic connection:
 Gnd: Arduino GND
 Echo: Arduino A2
 Trig: Arduino A1
 Vcc: Arduino 5V

6. Programming Arduino UNO

 The Arduino microcontroller communicates with the PC via the USB

connection. Data is transferred between the board and the PC bit by bit. An
adaptor is used for power supply to the board and a USB programmer is
used to burn the hardware program (written in Arduino IDE) into the board.
 Download and Install the Arduino Desktop IDE
 Download and paste NewPing library (Ultrasonic sensor function library)
file to the Arduino libraries folder.
o Paste files to the path (Example) - C:\Arduino\libraries
  Write Arduino code for the robot functioning
 Upload the code to the arduino board via a cable Power the Robot We will
use pack of 9V batteries to power our robot and Arduino

7. Results
The outcome of this thesis is a simple, Arduino-controlled robot car which moves
around detecting obstacles in its way and avoiding them. During operation of the
robot, the ultrasonic sensor sends out an ultrasound wave to the front position (90
degrees), right position (36 degrees), and left position (144 degrees). When the
wave strikes an obstacle, it bounces back and the distance is stored for the front,
right, and left position. After this, the microcontroller compares the values based
on its algorithm and determines whether to move forward or change path. Tests
carried out on the final hardware revealed the limitations of the detection
algorithm. The limitations were related to cases of some obstacles not being
detected and this was as a result of the sensor not being able to measure obstacles
outside the measuring range of the sensor. When an object is in the way of the car
and this object is not within the line of sight of the sensor, it will not be detected
thereby leading to collision. To avoid this, the testing was further carried out in an
enclosed area where the wall is the only obstacle and the car was able to move
freely without collision. To implement a car which will detect multiple obstacles
and avoid them, more sensors have to be used in order to cover a wider range for
obstacle detectio

8. Issues:

The performance and accuracy of this robot majorly depends on the sensor
used and the number of sensors used. The ultrasonic sensor used is for
commercial applications and it can easily encounter interference. This
caused issues with getting accurate distance measurements under some
certain conditions.
9. Conclusion:

Today we are in a world of robotics and we use different types of robots

daily in our life. This “Obstacle Avoidance Robot Car” project is proved
using the Ultrasonic sensor for detecting objects, Motor Driver Shield for
driving the DC motors, DC motors for movement of the wheels of the robot
with the help of the Arduino Microcontroller. The factors which affect the
accuracy of the designed robot include the environment the robot was tested
and the number of present obstacles in the test space. These factors mainly
affected the sensor which means that the accuracy of the robot is dependent
on the sensor.