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Obstacle Avoiding Robot Using Arduino and Ultrasonic Sensor

This document describes how to build an obstacle avoiding robot using an Arduino and ultrasonic sensor. The ultrasonic sensor is used to detect obstacles by measuring the time it takes for sound waves to bounce back. If an obstacle is detected within a certain distance, the robot will stop, move backwards, turn, and continue moving forward. The robot is able to navigate autonomously and avoid collisions using this obstacle detection method. Instructions are provided on connecting the ultrasonic sensor and motors to the Arduino, along with the code to program the robot's behavior.

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Dwi Pranomo
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425 views

Obstacle Avoiding Robot Using Arduino and Ultrasonic Sensor

This document describes how to build an obstacle avoiding robot using an Arduino and ultrasonic sensor. The ultrasonic sensor is used to detect obstacles by measuring the time it takes for sound waves to bounce back. If an obstacle is detected within a certain distance, the robot will stop, move backwards, turn, and continue moving forward. The robot is able to navigate autonomously and avoid collisions using this obstacle detection method. Instructions are provided on connecting the ultrasonic sensor and motors to the Arduino, along with the code to program the robot's behavior.

Uploaded by

Dwi Pranomo
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Obstacle Avoiding Robot using Arduino and Ultrasonic

Sensor
ARDUINO
ByAbhiemanyu Pandit Mar 12, 20191

Obstacle
Avoiding Robot Project using Arduino and Ultrasonic Sensor
Obstacle Avoiding Robot is an intelligent device which can automatically sense the obstacle in front
of it and avoid them by turning itself in another direction. This design allows the robot to navigate in
unknown environment by avoiding collisions, which is a primary requirement for any autonomous
mobile robot. The application of Obstacle Avoiding robot is not limited and it is used in most of the
military organization now which helps carry out many risky jobs that cannot be done by any soldiers.
We previously built Obstacle Avoiding Robot using Raspberry Pi and using PIC Microcontroller.This
time we will use Arduino and Ultrasonic Sensor to build an Obstacle Avoider. Here an Ultrasonic
sensor is used to sense the obstacles in the path by calculating the distance between the robot and
obstacle. If robot finds any obstacle it changes the direction and continue moving.

How Ultrasonic Sensor can be used to Avoid Obstacles


Before going to build the robot, it is important to understand how the ultrasonic sensor works because
this sensor will have important role in detecting obstacle. The basic principle behind the working of
ultrasonic sensor is to note down the time taken by sensor to transmit ultrasonic beams and receiving
the ultrasonic beams after hitting the surface. Then further the distance is calculated using the formula.
In this project, the widely available HC-SR04 Ultrasonic Sensor is used. To use this sensor, similar
approach will be followed explained above.

So, the Trig pin of HC-SR04 is made high for at least 10 us. A sonic beam is transmitted with 8 pulses
of 40KHz each.
The signal then hits the surface and return back and captured by the receiver Echo pin of HC-SR04.
The Echo pin had already made high at the time sending high.

The time taken by beam to return back is saved in variable and converted to distance using appropriate
calculations like below

Distance= (Time x Speed of Sound in Air (343 m/s))/2

We used ultrasonic sensor in many projects, to learn more about Ultrasonic sensor, check other
projects related to Ultrasonic sensor.
The components for this obstacle avoiding robot can be found easily. In order to make chassis, any
toy chassis can be used or can be custom made.

Components Required
1. Arduino NANO or Uno (any version)
2. HC-SR04 Ultrasonic Sensor
3. LM298N Motor Driver Module
4. 5V DC Motors
5. Battery
6. Wheels
7. Chassis
8. Jumper Wires

Circuit Diagram
Programming Arduino for Obstacle Avoiding Robot
Complete program with a demonstration video is given at the end of this project. The program will
include setting up HC-SR04 module and outputting the signals to Motor Pins to move motor direction
accordingly. No libraries will be used in this project.
First define trig and echo pin of HC-SR04 in the program. In this project the trig pin is connected to
GPIO9 and echo pin is connected to GPIO10 of Arduino NANO.

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 utilised 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 output

pinMode(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 waves


In loop() function, get the distance from HC-SR04 and based on the distance move the motor
direction. 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. To learn more about measuring
distance using Ultrasonic sensor and Arduino, follow the link.

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH); // send waves for 10 us

delayMicroseconds(10);

duration = pulseIn(echoPin, HIGH); // receive reflected waves

distance = 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 will
moving in forward direction.

if (distance > 19)

digitalWrite(fwdright7, HIGH); // move forward

digitalWrite(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 movebackwards 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);

So this is how a robot can avoid obstacles in its path without getting stuck anywhere. Find
the complete code and video below.

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Code
/* Obstacle Avoiding Robot Using Ultrasonic Sensor and Arduino NANO
* Circuit Digest(www.circuitdigest.com)
*/
int trigPin = 9; // trig pin of HC-SR04
int echoPin = 10; // Echo pin of HC-SR04
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
long duration, distance;
void setup() {

delay(random(500,2000)); // delay for random time


Serial.begin(9600);
pinMode(revleft4, OUTPUT); // set Motor pins as output
pinMode(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 waves
}
void loop() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // send waves for 10 us
delayMicroseconds(10);
duration = pulseIn(echoPin, HIGH); // receive reflected waves
distance = duration / 58.2; // convert to distance
delay(10);
// If you dont get proper movements of your robot then alter the pin numbers
if (distance > 19)
{
digitalWrite(fwdright7, HIGH); // move forward
digitalWrite(revright6, LOW);
digitalWrite(fwdleft5, HIGH);
digitalWrite(revleft4, LOW);
}
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);
}
}

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