OBSTACLE AVOIDING ROBOT USING
ARDUINO SENSOR
Amit.J. Patil1, Parth Patil2, Aniruddha Kaple3, Pratik Dhanawade4, Arvind Yadav5, Akash Shukla6
1
lecturer, 2,3,4,5,6 Students of Mechanical Engineering
BHARATI VIDYAPEETH INSTITUTE OF TECHNOLOGY, NAVI MUMBAI, MAHARASHTRA, INDIA
Abstract:
An obstacle-avoiding robot is an autonomous or semi-
autonomous robotic system designed to navigate its
environment while avoiding obstacles. Equipped with
sensors such as ultrasonic or infrared detectors, the
robot detects obstacles in its path and employs
algorithms to adjust its trajectory or halt movement to
prevent collisions. The primary objective is to enable
the robot to navigate through diverse environments,
including indoor and outdoor spaces, without human
intervention. These robots find applications in various
fields, such as automation, surveillance, and
exploration, where the ability to maneuver around
obstacles is crucial for safe and efficient operation.
Keywords:
Arduino, Microcontroller, motor shield L293d,
ultrasonicsensor, Infrared Sensors, DC Motor,
servo motor
1. Introduction:
The Obstacle Avoiding Robot using Arduino
sensors is a robotic system designed for
autonomous navigation in environments with
obstacles. It leverages the Arduino platform, a
popular open-source microcontroller, along with
sensors to detect obstacles and ensure safe
traversal. The primary sensors employed in this
system are often ultrasonic or infrared sensors,
which enable the robot to measure distances to
nearby objects in its path.
Arduino serves as the brain of the robot,
processing sensor data and executing control
algorithms to make decisions on movement.
When an obstacle is detected, the robot's
algorithm triggers motor control mechanisms to
adjust its course and avoid collisions. This
project showcases the integration of hardware
components, programming, and sensor
technology to create a cost-effective and
efficient obstacle-avoidance solution.
The Obstacle Avoiding Robot using Arduino
sensor is not only a practical demonstration of
robotics but also serves as an educational project,
providing enthusiasts and students with hands-on
experience in building and programming
autonomous robotic systems. The simplicity and
versatility of Arduino make this project accessible
to a wide range of individuals interested in
exploring the exciting field of robotics. Some
sophisticated algorithms enable the robot to detour
obstacles. The latter algorithms are more complex
since they involve detection of an obstacle as well
as some kind of quantitative measurements
concerning the obstacle's dimensions. Once these
have been determined, the obstacle avoidance
algorithm needs to steer the robot around the
obstacle and 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 and sends a
command to the microcontroller. Hence the robots
may overcome some of the problems during
navigation, which are discussed above, and it can
navigate smoothly during its operation avoiding the
collisions. If we were use the IR sensor Infrared
sensors detect the object's distance with infrared
radiation. When the beam detects an object, the
light beam returns to the receiver with an angle
after reflection there is a limitation in sensor those
limitations are Performance of IR sensors has been
limited by their poor tolerance to light reflections
such as ambient light or bright object colors. No
object recognition at the dead zone area, for
example Sharp GP2D12 IR distance sensor dead
zone between 0 to 4 cm. IR sensors also gives
inaccurate detection result with transparent or
bright color materials. Detection results also
depend on the weather conditions and the sensing
reliability of IR sensors decreases with moisture
and humidity.
2. LITERATURE SURVEY
“The collaborative efforts of various researchers
have led to the development of innovative robotic
systems aimed at addressing specific challenges.
"Line follower and obstacle avoidance bot using
Arduino," authored by Khan, Dipashrisonawale,
focuses on creating an autonomous robot
capable of intelligently detecting obstacles and
navigating based on user-defined actions. The
system offers an alternative approach to existing
methods, replacing skilled labor with robotic
machinery for enhanced efficiency, accuracy,
and reduced per capita cost in patient handling.
In the work presented by Aniket D. Adhvaryu et
al on "Obstacle-avoiding robot with IR and PIR
motion Sensors," a general wheeled autonomous
platform is proposed for educational, research,
or industrial implementation. The flexible
design allows students to learn microcontroller
programming, sensor characteristics, and circuit
design. The study emphasizes the educational
and collaborative aspects of research at the
polytechnic level, fostering the development of
communication, technical skills, and teamwork.
Vaghela et al's "Obstacle Avoidance Robotic
Vehicle Using Ultrasonic Sensor, Android, and
Bluetooth for Obstacle Detection" explores
wireless gesture control of robots, highlighting
the user-friendly interface and portability of
Android OS-based smartphones. The research
emphasizes the ubiquity of wireless gesture
control and the need for further exploration in
diverse applications such as home appliances,
wheelchairs, and artificial nursing.
Lastly, Paul Kinsky and Quan Zhou, in their
work on "Obstacle Avoidance Robot," introduce
additional functions to a robotic system,
incorporating a laptop holder and a camera
holder. The development board, AT89S52, is
designed for smooth motor control, and cameras
with a low cost are utilized for computer vision
calibration. The research demonstrates the
integration of mechanical components to
enhance the robot's capabilities, including serial
communication between the laptop and the
development board via USB port.
Collectively, these studies contribute to the
advancement of robotics by addressing specific
challenges and providing insights for
educational The primary objective of this
project is to design an autonomous robot
capable of following a line and avoiding
obstacles. The integration of Arduino as the
control platform allows for easy programming
and implementation. By providing user-defined
actions for obstacle navigation, the robot enhances
its adaptability and utility. The system's potential in
healthcare settings is highlighted, as it suggests a
more efficient and cost-effective means of patient
handling compared to traditional methods.
3) COMPONENT:
The basic block diagram for the implementation of the
project is as shown in figure1.
Fig 1: Block Diagram of the system
The HC-SR04 ultrasonic sensor utilizes a sonar system to
measure distances similar to how bats navigate. This sensor is
capable of non-contact range detection from approximately 2
cm to 400 cm (1 foot to 13 feet), providing versatile
applications. Notably, its performance remains unaffected by
external factors such as sunlight or the color of detected
objects. The sensor emits short, high-frequency signals, and
upon encountering an obstacle, it captures the echo signal
reflected back, interpreting it as input through the Echo pin.
To implement obstacle avoidance, the user initializes the
Trigger and Echo pins as low, setting the robot in forward
motion. Upon detecting an obstacle, the Echo pin signals high
to the microcontroller. The Pulse In function is employed to
calculate the time taken for the signal to travel to the obstacle
and back. This function waits for the pin to go high, starts
timing, and stops when the pin goes low, returning the pulse
length in microseconds. The function considers pulses ranging
from 10 microseconds to 3 minutes and addresses errors in
shorter pulses.
After obtaining the time, it is converted into a distance.
Depending on the distance from the obstacle, the robot's speed
is adjusted. If the distance is moderate, the robot slows down
and takes a left turn if the obstacle is on the left side, or a right
turn if on the right. In the case of a short distance, the robot
reduces speed, moves backward, and then turns either left or
right. The robot is built on an Arduino development board
housing the microcontroller for effective control and execution
of these operations. This design ensures an intelligent and
adaptable obstacle avoidance system for the robot.
 b) L298P Motor Driver Shield
Arduino board relates to DC Motor through Motor
driver board (pin10, pin11, pin12, pin13) which
provides power to the actuators. Actuators are used to
move robots in Forward, Backward, Left and Right
directions. A brief description of input pins for
movement of robot is given in above in table. The
movement of robot will stop 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.

4) OTHER COMPONENT :

a) Ultrasonic Sensor:

Various sensors are available for obstacle detection,

with popular options being Infrared sensors (IR),
Ultrasonic sensors, Cameras for Computer Vision, and
Sonar. In the design of robots, ultrasonic sensors are
commonly employed for obstacle detection and
avoidance. These sensors continuously emit frequency
signals, and when an obstacle is detected, the reflected
signals are considered as input.
Ultrasonic sensors are versatile devices that utilize
ultrasonic waves for diverse applications such as
distance measurement and obstacle detection.
Operating on the echolocation principle, akin to how
bats navigate, these sensors emit ultrasonic pulses and
measure the time taken for the echoes to return,
allowing for precise distance calculations.
Playing a pivotal role in automation, robotics, and
various industrial applications, ultrasonic sensors offer
reliable and non-contact distance measurement
capabilities. As technology advances, addressing
challenges and refining sensor designs is expected to
further enhance performance and broaden
applicability.
The core components of ultrasonic sensors include a
transducer for wave conversion and piezoelectric
crystals facilitating the transformation between
electrical signals and ultrasonic waves. In practical
applications, these sensors are extensively used for
non-contact distance measurement, obstacle detection,
and industrial scenarios. Whether utilized for parking
assistance in vehicles, measuring liquid levels in
tanks, or serving as a key element in robotics for
obstacle avoidance, ultrasonic sensors demonstrate
versatility precision.
Fig: L298P Motor Driver Shield
The L298D Motor Driver Shield is an electronic
module designed for Arduino projects, allowing the
control of DC motors through an H-bridge
configuration. It supports bidirectional control,
enabling motor direction and speed regulation. This
shield is widely used in robotics and mechatronics for
its compatibility with Arduino boards and ability to
handle relatively high currents..
c) SG-90 Servo Motor
the gear assembly, and as the motor rotates, it turns the
gear assembly, which in turn moves the servo motor shaft.
As the shaft moves, it changes the position of the
potentiometer knob.
The potentiometer continuously generates an electrical
signal based on the position of the knob. The error detector
amplifier compares this signal with the input signal from
another source. The difference between these signals is
processed in a feedback mechanism, generating an error
signal.This error signal is then fed back as input to the
motor. As a result, the motor adjusts its rotation to
minimize the error, causing the servo motor shaft to move
until the desired position is reached. This closed-loop
control system ensures precise and accurate positioning of
the servo motor shaft.
In summary, the servo motor system utilizes a combination
of a motor, potentiometer, gear assembly, and a controlling
circuit to achieve controlled and precise rotational
movements. The feedback mechanism involving the
potentiometer ensures that the motor continuously adjusts
its position to maintain accuracy in response to external
commands or changes in load conditions.
 d) DC motor:

A Direct Current (DC) motor is a rotating electrical

device that converts direct current, of electrical
energy, into mechanical energy. An Inductor (coil)
inside the DC motor produces a magnetic field that
creates rotary motion as DC voltage is applied to
its terminal. Inside the motor is an iron shaft,
wrapped in a coil of wire. This shaft contains two
fixed, North and South, magnets on both sides
which causes both a repulsive and attractive force,
in turn, producing torque.

e) Arduino sensor: 5. RESULTS:

Arduino is an open-source electronics platform
renowned for its integration of hardware and software
components. The hardware aspect encompasses a
diverse array of microcontroller boards, while the
software provides an Integrated Development
Environment (IDE) specifically tailored for
programming these boards. What distinguishes
Arduino is its user-friendly interface, rendering it
accessible even for beginners and contributing to its
widespread utilization in numerous electronic
projects.
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 no obstacles it moves in
forward direction, to sense the obstacle ultrasonic
sensor is used. We used servo motor to rotate the
ultrasonic sensor.

The platform empowers users to write and upload

code directly to the microcontroller, facilitating the
creation of interactive electronic devices, prototypes,
and robotics projects. This capability is particularly
advantageous for makers and hobbyists who seek an
efficient and versatile solution. Arduino's appeal
extends into educational settings, where its
accessibility and community support make it an ideal
tool for teaching programming and electronics.

In practical applications, ultrasonic sensors play a

pivotal role within the Arduino ecosystem. These
sensors, leveraging ultrasonic waves, are extensively
employed for non-contact distance measurement,
obstacle detection, and various industrial scenarios.
Whether aiding in parking assistance systems for
vehicles, measuring liquid levels in tanks, or serving
as a fundamental component in robotics for obstacle
avoidance, ultrasonic sensors demonstrate remarkable
versatility and precision.

In essence, Arduino's combination of user-friendly

features, extensive community support, and
compatibility with a wide range of sensors, such as
ultrasonic sensors, solidify its position as a go-to
platform for electronic enthusiasts, makers, educators.

6) CONCLUSION:
In conclusion, the obstacle-avoiding robot represents a
successful integration of hardware and software
components, showcasing the capabilities of
autonomous navigation in dynamic environments. By
incorporating sensors such as ultrasonic or infrared
sensors and implementing obstacle avoidance
algorithms, the robot can detect and circumvent
obstacles effectively. The use of a microcontroller,
often Arduino, facilitates real-time decision-making
based on sensor inputs, ensuring seamless and safe
navigation.
This project not only demonstrates the practical
application of robotics but also serves as an
educational tool for learning about sensor integration,
algorithm development, and motor control in a
tangible and interactive manner. The obstacle-
avoiding robot's adaptability to changing
environments makes it suitable for various
applications, including surveillance, cleaning, or
general-purpose autonomous navigation.
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5. ACKNOWLEDGEMENT

We extend our sincere appreciation to the authors of

the diverse range of research papers that served as
valuable sources of knowledge during the preparation
of this paper. The insights gained from these papers
not only enriched the content of our work but also
provided a solid foundation for future research
endeavors.

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