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Design of an Obstacle-avoiding Robot Car Based on Arduino Microcontroller

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毕 业 设 计(论文)
`
Design of an Obstacle-avoiding Robot Car
题目： Based on Arduino Microcontroller
基于 Arduino 单片机的智能避障小车
设计

院 系 电气与电子工程院
专业班级 电气 1403
学生姓名 穆歌 MUGAHED GHALEB
学 号 1144100034
指导教师 皮伟

2018 年 06 月
 ABSTRACT
In today’s world ROBOTICS is a fast growing and interesting field. ROBOT has sufficient
intelligence to cover the maximum area of provided space.
Introduces the design and implementation of an autonomous obstacle -avoiding robot car using
ultrasonic wave sensor in this thesis. By sending pulses, the obstacle avoidance distance can
be measured. At the same time, we can control steering gear to realize the obstacle avoidance
function. The robot car uses front axle steering, rear wheel drive arrangement. Two drive tires
are driven by two DC motors with gear reduction mechanisms. Using Arduino MCU chip as
the control core of the Robot car. Through the design of the hardware and software system, we
build the robot car platform and obtain good experimental effect.

Keywords: Wheeled ROBOT, Autonomous, Intelligent, Arduino microcontroller, Artificial

Intelligence
 摘要
论文介绍了采用超声波传感器的自主避障小车的设计与实现。 通过发送脉冲检测与
障 碍物的距离，从而控制舵机进行转向，实现小车的避障功能。 智能小车采用前桥转
向，后轮驱 动的布置方式，两轮各用一个直流电机配合齿轮减速机构实现，选用
Arduino 单片机芯片作 为控制核心。 进行了软硬件系统的设计，搭建了智能小车平
台，取得了良好的实验效果。

关键词：智能小车，避障，超声波传感器，轮式 ROBOT， Arduino 微控制

器，人工智能
 Table of Contents

1 Chapter One: Introduction and Background ............................................................... 1

1.1 Introduction ................................................................................................................... 1
1.2 The main Objectives ....................................................................................................... 2
1.3 Methodology ................................................................................................................. 2
1.4 Project Layout ................................................................................................................ 2
2 Chapter Two: History and Literature Review .............................................................. 3
2.1 Artificial Intelligence ...................................................................................................... 3
2.2 Robotics and Robots ...................................................................................................... 3
2.3 Robot Working ............................................................................................................... 3
2.4 The Actuator .................................................................................................................. 4
2.5 Robot Learning ............................................................................................................... 4
2.6 Autonomous Robot ........................................................................................................ 5
3 Chapter Three: Introduction to Arduino .................................................................... 7
3.1 Arduino Overview .......................................................................................................... 7
3.2 Arduino History .............................................................................................................. 7
3.3 Arduino Development .................................................................................................... 8
3.4 Arduino Evolution .......................................................................................................... 8
3.5 Arduino Past and Present ............................................................................................... 9
3.6 What are Arduino Boards? ............................................................................................. 9
3.7 Why Arduino Boards? .................................................................................................. 10
3.8 Features of Arduino Boards. ......................................................................................... 11
4 Chapter Four: The Final Project Construction, Testing, Results ................................ 13
4.1 Block Diagram (Hardware Implementation) ................................................................. 13
4.1.1 Arduino UNO R3 ............................................................................................................ 14
4.1.2 HC-SR04 Ultrasonic Sensor ............................................................................................. 17
4.1.3 L298D Motor Driver Shield ............................................................................................. 21
4.1.4 SG-90 Servo Motor ......................................................................................................... 22
4.1.5 DC motor ........................................................................................................................ 26
4.2 robot working principle ................................................................................................ 28
4.3 Hardware components: ................................................................................................ 28
4.4 Necessary Tools and Machines: .................................................................................... 28
4.5 the project chassis Design ............................................................................................ 29
4.6 Constructing the Chassis .............................................................................................. 30
4.7 programing the robot code .......................................................................................... 37
4.7.1 Processes and flow of program ...................................................................................... 38
4.7.2 Arduino Coding ............................................................................................................... 39
4.7.3 Servo System .................................................................................................................. 41
4.7.4 Sensor System ................................................................................................................ 43
4.7.5 Driving system ................................................................................................................ 43
5 Chapter five: Conclusion and Recommendation. ...................................................... 47
5.1 Conclusion ................................................................................................................... 47
5.2 Future Recommendations ............................................................................................ 47
5.3 Future Works ............................................................................................................... 47

I
5.4 Advantages .................................................................................................................. 48
5.5 Limitations ................................................................................................................... 48
5.6 Problems Faced ............................................................................................................ 48

II
 Table of Figures
Figure 2.1 Autonomous Urbie developed by NASA, is designed for various urban
operations, including military reconnaissance and rescue operations. .............................. 6
Figure 3.1 Types of Arduino Boards ...................................................................................... 10
Figure 4.1 Block diagram depicting the Hardware Implementation for the project ............... 13
Figure 4.2 Arduino UNO R3 board ........................................................................................ 14
Figure 4.3 Diagram of the basic ultrasonic sensor operation .................................................. 17
Figure 4.4 Ultrasonic Sensor Pins ........................................................................................... 19
Figure 4.5 Block Diagram of Ultrasonic Sensor work............................................................ 20
Figure 4.6 L298D Motor Driver Shield .................................................................................. 21
Figure 4.7 SG-90 Servo Motor ............................................................................................... 22
Figure 4.8 diagram of Servo Closed Loop System ................................................................. 23
Figure 4.9 Position of motor shaft when PWM is generated. ................................................. 24
Figure 4.10 DC Motors ........................................................................................................... 26
Figure 4.11 DC Motor – Gear Motor ...................................................................................... 27
Figure 4.12 Block diagram of Robot working principle ......................................................... 28
Figure 4.13 The final Design of the Robot Chassis ................................................................ 29
Figure 4.14 Chassis Robot Components ................................................................................. 30
Figure 4.15 3D Print chassis plate .......................................................................................... 30
Figure 4.16 Soldering the DC Motors..................................................................................... 31
Figure 4.17 attach the front wheel .......................................................................................... 31
Figure 4.18 attach the rear wheels to the chassis .................................................................... 32
Figure 4.19 schematic circuit diagram of the switch and the power source ........................... 32
Figure 4.20 Soldering the ON/OFF Switch ............................................................................ 33
Figure 4.21 The hardware model depicting my project model ( Obstcle Avoiding Robot) .. 34
Figure 4.22 Schematics Block Diagram of wire up the components ...................................... 34
Figure 4.23 connect ultrasonic sensor Pins to the Motor Shield ............................................. 35
Figure 4.24 Block Diagram of connect ultrasonic sensor Pins to the Motor Shield ............... 35
Figure 4.25 Wire up the Servo Motor to Motor Shield (Servo _ port 2) ................................ 36
Figure 4.26 Wire up the DC motors to Motor Shield ............................................................. 36
Figure 4.27 Arduino integrated development environment (IDE) .......................................... 37
Figure 4.28 The Algorithm/ Flowchart Diagram of The Obstacle-avoiding Robot Car Based
on Arduino Microcontroller ............................................................................................. 38
Figure 4.29 Turning function by servo motor to detect obstacles .......................................... 42
Figure 4.30 Ultrasonic Sensor................................................................................................. 43
Figure 4.31 Robot Driving System ......................................................................................... 44
Figure 5.1 Ultrasonic Sensor Problems Faced ........................................................................ 48

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1 Chapter One: Introduction and Background

1.1 Introduction
Robotics is part of Todays communication. In today’s world ROBOTICS is fast growing
and interesting field. It is simplest way for latest technology modification. Now a day’s
communication is part of advancement of technology, so I decided to work on ROBOTICS
field, and design something which will make human life simpler in today aspect.

An autonomous robot is a robot that is capable of moving on its own in an unknown and
unstructured environment. An autonomous robot is equipped with software intelligence to
sense its environment, detect obstacles in its path and move around an unknown environment
overcoming the obstacles. There are many robotic designs that are employed in designing of
autonomous robots. These designs are usually developed considering the physical
environment in which the robot has to be deployed. There are autonomous robots like snake
robots, walking robots, autonomous drones and autonomous robotic cars or rovers.

This ROBOT has sufficient intelligence to cover the maximum area of provided space. It
has an infrared sensor which are used to sense the obstacles coming in between the path of
ROBOT.
It will move in a particular direction and avoid the obstacle which is coming in its path.
The main motto of designing such type of Robot or the technology is that this technology
can be used in today’s very fast transportation to avoid the accident generally happen in
congested by applying emergency break. If we use this technology in the car or any vehicle,
it will automatically sense the obstacles then it will take a side to the available free space.
An obstacle may be a living things or any object.

Autonomous Intelligent Robots are robots that can perform desired tasks in unstructured
environments without continuous human guidance. Thus, by using this technology in vehicles
we make the drive safe.

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1.2 The main Objectives

The main objectives of the project are comprehended as follows:
• the obstacle avoidance robot is able to move around in an unknown environment
without colliding with surrounding objects.
• The robot would have the capacity to detect obstacles in its path based on a
predetermined threshold distance. 

• After obstacle detection, the robot would change its course to a relatively open path
by making autonomous decision. 

• It would require no external control during its operation. 

• It can measure the distance between itself and the surrounding objects in real-time.
• It would be able to operate effectively in unknown environment.
• Obstacle avoiding robots can be used in almost all mobile robot navigation systems

• They can be used for household work like automatic vacuum cleaning.
• They can also be used in dangerous environments, where human penetration could be
fatal.

1.3 Methodology
• simulations of Obstacle-avoiding Robot will be performed before and after
optimization in Proteus Simulink, and others tools if needed.
• The methodology may include research, surveys and other research techniques, and
could include both present and historical information.
• Prepare the required components to do a practical simulation by Arduino
microcontrollers to make the Robot
• Start to design the final project

1.4 Project Layout

This project has been divided to five chapters as following:
chapter one is gives the introduction and the objective and methodology of proposed Obstacle
Avoiding Robot design. Chapter two consist of History and Literature Review. Chapter three
shows the introduction to Arduino, Overview, History, Development, Evolution, Arduino
past and present, Arduino Boards, Features of Arduino Boards. Chapter four shows The Final
Project Construction, Testing, Results.
Chapter five contains conclusion and recommendation.

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2 Chapter Two: History and Literature Review

2.1 Artificial Intelligence

Artificial intelligence is the branch of computer science that develops machines and software
with human-like intelligence. It is the intelligence exhibited by software or machines. The
central goals of artificial intelligence research include knowledge, reasoning, learning,
planning, perception, the ability to manipulate and move objects and natural language
processing.
The field was founded on the claim that a central property of humans is intelligence, and that
it can be sufficiently well described to the extent that a machine can simulate it.

2.2 Robotics and Robots

It is a branch of technology and deals with designing, construction, operation, and application
of robots. It also deals with the computer systems for their sensory, control, information
processing and feedback. These technologies deal with automated machines that can replace
humans in manufacturing processes or dangerous environments. These robots resemble
humans in behavior, appearance, and/or cognition. Robotics requires a working knowledge of
mechanics, electronics, and software [15].
Robots are machines and are of a wide range. The common feature of robots is their
capability to move. They perform physical tasks. Robots have many different forms. They
range from industrial robots, whose appearance is dictated by the function they are to
perform. Or they can be humanoid robots, which mimic the human movement and our form.
Robots can be grouped generally as:
Ø Manipulator robots (for e.g. industrial robots)
Ø Mobile robots (for e.g. autonomous vehicles),
Ø Self-reconfigurable robots, the robots that can conform themselves to the task at
hand.

Robots may act according to their own decision-making ability, provided by artificial
intelligence or may be controlled directly by a human, such as remotely-controlled bomb-
disposal robots and robotic arms; or. However, the majority of robots fall in between these
extremes, being controlled by pre-programmed computers [2].

2.3 Robot Working

Human beings on a basic level are made of five major components:

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Ø A muscle system that can move the body structure

Ø A body structure itself
Ø A power source that can activate the muscles and sensors
Ø A sensory system which can receive information about the body and the
surrounding environment
Ø A brain system which can process sensory information and tell the muscles what
to do.

Robots are made up of the same components as above. A typical autonomous robot has a
sensor system, a movable physical structure, a power supply and a computer brain that
controls all of these elements. Basically, robots are man-made versions of the animal life.
They are machines that can replicate human and animal behavior.

2.4 The Actuator

All robots have a movable body (almost all). Some have motorized wheels only, while others
may have a dozen of movable parts (that are typically made of plastic or metal). Like bones
in a human body, the individual segments are connected together with the help of joints.

Robots use actuators to spin wheels and jointed pivot. Some robots use solenoids and electric
motors as actuators; others some use a pneumatic system (a system driven by compressed
gases); yet others use a hydraulic system. A robot may even use all of these actuator types
together.
Robots need a power source to be able to drive the actuators. Most robots have a battery or
they plug into an electricity source. Pneumatic robots need air compressors or compressed air
tanks and hydraulic robots need a pump that pressurizes the hydraulic fluid. The actuators are
wired to an electrical circuit. The circuit powers these electrical motors and solenoids
directly. It also activates the hydraulic system by manipulating electrical valves. The valves
determine the pressurized fluid's path through the machine.

2.5 Robot Learning

Robot learning is an intersecting research field between robotics and machine learning. It
studies techniques that allow robots to acquire skills and adapt to its environment by learning
various algorithms. Learning can take place either by self-exploration or through guidance
(from a human teacher), like in robot learning that learns by imitation.

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2.6 Autonomous Robot

Autonomous robots are independent of any controller and can act on their own. The robot is
programmed to respond in a particular way to an outside stimulus. The bump-and-go robot is
a good example. This robot uses bumper sensors to detect obstacle. When the robot is turned
on, it moves in a straight direction and when it hits an obstacle, the crash triggers its bumper
sensor. The robot gives a programming instruction that asks the robot to back up, turn to the
right direction and move forward. This is its response to every bump. In this way, the robot
can change direction every time, it encounters an obstacle.

A more elaborate version of the same idea is used by more advanced robots. Roboticists
create new sensor systems and algorithms to make robots more perceptive and smarter.
Today, robots are able to effectively navigate a variety of environments. Obstacle avoidance
can be implemented as a reactive control law whereas path planning involves the pre-
computation of an obstacle-free path which a controller will then guide a robot along.

Some mobile robots also use various ultrasound sensors to see obstacles or infrared. These
sensors work in a similar fashion to animal echolocation. The robot sends out a beam of
infrared light or a sound signal. It then detects the reflection of the signal. The robot locates
this distance to the obstacles depending on how long it takes the signal to bounce back.

Some advanced robots also use stereo vision. Two cameras provide robots with depth
perception. Image recognition software then gives them the ability to locate, classify various
objects. Robots also use smell and sound sensors to gain knowledge about its surroundings.

More advanced robots are able to analyze unfamiliar environments and adapt to them. They
even work on areas with rough terrain. This kind of robots can associate particular terrain
patterns with particular actions.
For example, a rover robot constructs a land map with the help of its visual sensors. If the
map depicts a bumpy terrain pattern, the robot decides to travel some other way. Such kinds
of system are very useful for exploratory robots and can be used to operate on other planets.
Figure 2.1 shows the bot developed by NASA called Urbie. It is designed for various military
purposes and is able to move through stairs and other such paths .

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Figure 2.1 Autonomous Urbie developed by NASA, is designed for various urban operations,
including military reconnaissance and rescue operations.

An ant tries to get over an obstacle, it does not decide when it needs to get over an obstacle. It
simply keeps trying different things until it gets over the obstacle. An alternative robot design
takes a similar less structured approach, which can also be termed as a randomness approach.
When the robot gets stuck, it moves its appendages in every way until something works out.
Force sensors work very closely with the actuators, instead of the computer directing
everything based on a program.

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3 Chapter Three: Introduction to Arduino

3.1 Arduino Overview

Arduino is a popular programmable board used to create projects. It consists of a simple
hardware platform as well as a free source code editor which has a “one click compiles or
upload” feature. Hence it is designed in way that one can use it without necessarily being an
expert programmer (Kushner 1987). Arduino offers an open-source electronic prototyping
platform that is easy to use and flexible for both the software and hardware. Arduino is able
to sense the environment through receiving input from several sensors.
It is also able to control its surrounding through controlling motors, lights and other actuators.
The Arduino programming language that is based on the wiring and the Arduino
development environment that is based on the processing are used to program the
microcontroller found on the board (Banzi, 2005). Due to its open-source environment, one
is able to easily write and upload codes to the I/O board. It is also worth to note that Arduino
can be run on Linux, Mac OSX and Windows as its environment is written in Java

3.2 Arduino History

Arduino was released in 2005 by students from the Interaction Design Institute Ivrea (IDII)
as a modest tool for Mac OSX and Windows. Since then, Arduino has been able to initiate an
international-do-it yourself revolution at the electronics industry. The open source
microcontroller hardware has been designed in a way that it can easily interface with various
sensors (registering user inputs) and driving the behaviors and responses of the external
components such as speakers, motors, and LED (responding to the user inputs). The most
important feature of Arduino is the ease of programmability hence users with little expertise
are able to use it. This aspect has made Arduino one of the most popular tools of choice for
designers and artists in creating interactive spaces and objects (Arduino Team).

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3.3 Arduino Development

While discussing the development of Arduino, it is worth introducing a brief history of
microcontrollers. A revolutionary leap in the computing industry was seen in the 1960s
following the development of solid state computers (including the IBM 1401), that used
transistors to process its operations and a magnetic core memory for its storage (instead of
vacuum tubes), and these enabled an increase in the compactness of the computer hardware.
In addition, Jack Kilby’s invention of integrated circuits in 1959 enabled circuits and
transistors to be fused into tiny chips of semiconducting materials (like silicon) as well as
further miniaturization of the computer component. The other crucial development made in
the same decade was the high-level computer programming languages, written in symbolic
languages such as plain English, and this made computer codes somehow easy to learn and
read than the earlier machine languages that consisted of letters and numbers only. This
development enabled individuals with few years of expertise to carry out the basic operations
on a computer.
FORTRAN (for the scientific calculators) and COBOL (for business application) were the
two main languages that were introduced in that period.
The microprocessor was one of the greatest innovations in the history of the modern
computer in the 1970’s. Initially, the microprocessor miniaturized all the hardware
components of CPU to fit into one, tiny, integrated circuit, popularly known as the microchip.
The microchip became the major driving component of the microcontrollers including
Arduino which is made up of a microchip, input/output hardware and memory storage
hardware for sensors. The microprocessor, due to the small form factor, was incorporated
into a surfeit of electronic devices ranging from personal computers to calculators and are
still used up to date. More programming languages were also developed in the 1970s and 80s
including C, C++ and Java for applications in science and business. (Massimo, 2005)

3.4 Arduino Evolution

Having looked at the evolution of microcontrollers, there have been recent incarnations of the
microcontrollers that have been designed in a way to fulfill the needs of hobbyists and casual
users who happen to have a limited technical knowledge. In other words, the microcontrollers
have moved from the more complex requirements in the scientific, business or commercial
fields. Before the invention of Arduino, the PIC microcontroller board that was introduced by
general instruments in 1985 was one of the most used tools for the electronic enthusiasts. The
reasons as to why the PIC microcontroller board was preferred were the speed and ease of its

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programming through simple languages including PBASIC. An additional reason was that it
was able to store programs on a flash memory chip that enabled the instructions on the board
to be reprogrammed or erased at will with an infinite number of possibilities. It also
supported output devices such as LEDs and motors as well as input sensors. There are other
popular boards for the hobbyists including BASIC Stamp and wiring which are some of the
microcontroller boards that were designed for tangible media explorations and electronic art.
The two boards share the advantages of ease of rapid prototyping and simplicity of
programming.
It was in 2005 when the Arduino team was formed in Italy and it consisted of Barragan
Massimo, David Cuartielles, Gianluca Marino, Dave Mellis and Nicholas Zambetti. The main
goal of this team was to develop an electronic prototyping platform that would simplify the
wiring platform and make it accessible to the non-technical users especially in the creative
fields. The Arduino, therefore, incorporated several characteristics including a programming
environment that is based on the processing language that was conceived by Casey Reas and
Ben Fry and other artists and designers. Arduino also incorporated the ability to program its
board using a standard USB connection with a low price point (Wheat, 2001).

3.5 Arduino Past and Present

Within its first 2 years of existence, Arduino achieved rapid success where more than 50, 000
boards were sold. By 2009, Arduino had more than 13 different incarnations with each
having a specialized application. For instance, Arduino Mini was a miniature to be used in
small interactive objectives, Arduino BT was built with Bluetooth capabilities, and Arduino
Lilypad for wearable technologies projects. Today, the Arduino microcontroller is a popular
prototyping platform across the world and it is a good example of how software and
hardware technologies that were originally created for business, military or scientific
applications have been repurposed so as to serve the needs of people developing projects in
new media and arts and design.

3.6 What are Arduino Boards?

Arduino board is an open-source platform used to make electronics projects. It consists of
both a microcontroller and a part of the software or Integrated Development Environment
(IDE) that runs on your PC, used to write & upload computer code to the physical board. The
platform of an Arduino has become very famous with designers or students just starting out
with electronics, and for an excellent cause.

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Figure 3.1 Types of Arduino Boards

3.7 Why Arduino Boards?

Arduino board has been used for making different engineering projects and different
applications. The Arduino software is very simple to use for beginners, yet flexible adequate
for advanced users. It runs windows, Linux and Mac.
Teachers and students in the schools utilize it to design low cost scientific instruments to
verify the principles of physics and chemistry. There are numerous other microcontroller
platforms obtainable for physical computing. The Netmedia’s BX-24, Parallax Basic Stamp,
MIT’s Handyboard, Phidget and many others present related functionality.

Arduino also makes simpler the working process of microcontroller, but it gives some
advantages over other systems for teachers, students and beginners.
Ø Inexpensive
Ø Cross-platform
Ø Simple, clear programming environment
Ø Open source and extensible software
Ø Open source and extensible hardware

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3.8 Features of Arduino Boards.

Arduino System
Processor Memory Digital I/O Analogue I/O
Board Voltage

Arduino Uno
16Mhz 2KB SRAM, 6 inputs, 0
5V 14
ATmega328 32KB flash output

Arduino Due
84MHz
96KB SRAM, 12 inputs, 2
3.3V AT91SAM3X 54
512KB flash outputs
8E

Arduino
Mega 16MHz 8KB SRAM, 16 inputs, 0
5V 54
ATmega2560 256KB flash output

Arduino
Leonardo 2.5KB
16MHz 12 inputs, 0
5V SRAM, 32KB 20
ATmega32u4 output
flash

Arduino
LilyPad
ATmega 168v 1KB SRAM, 6 inputs, 0
2.7-5.5 V 14
or 328v 16KB Flash output

Arduino
Nano
Atmel
2KB SRAM, 8 inputs, 0
5V ATmega328 14
32KB Flash output

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Arduino FIO
3.3KB
ATmega328P 8 inputs, 0
3.3V SRAM, 32KB 14
output
Flash

Arduino
Mini
2KB SRAM, 8 inputs, 0
5v ATmega328 14
32KB Flash outputs

Arduino Pro
Mini
2KB SRAM, 6 inputs, 0
3.3V or 5V ATmega328 14
16KB Flash output

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4 Chapter Four: The Final Project Construction, Testing, Results

4.1 Block Diagram (Hardware Implementation)

Figure 4.1 below shows the block diagram that describes the process for the designing and
development of the hardware.
The hardware implementation phase is divided into six components.
The components are:
Ø HC-SR04 Ultrasonic Sensor
Ø SG-90 Servo Motor
Ø Arduino UNO R3
Ø L298D Motor Driver IC
Ø Power Supply
Ø Left DC Motor and Right DC Motor

Each component has been explained below along with their circuital representation as used in
the building of the robot. The software implementation is included in the microcontroller
phase

Figure 4.1 Block diagram depicting the Hardware Implementation for the project

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4.1.1 Arduino UNO R3

Figure 4.2 Arduino UNO R3 board

4.1.1.1 Arduino Uno Overview – Power

Ø USB power or externally via barrel jack connector
Ø External supply voltage: 7 to 12 DC

Pin Function

Vin Voltage from Ext. Power jack

5V 5V output from on-board Voltage regulator chip

3.3V 3.3V output from on-board Voltage regulator chip

Gnd 3 pins

IOREF Tied to 5V, tells Arduino shields voltage level from which Arduino board operates

Reset From Reset pin on MCU, tied to VCC through 10K resistor, pull to GND to reset

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4.1.1.2 Arduino Uno Overview – Digital Input / Output

SPI PWM ~ TX / RX
Ø 14 Digital I/O
Ø 5V logic level
Ø Sink/source 20mA per pin
Ø Universal Asynchronous Serial Receiver /
Transmitter (UART)
• Pin 0 – Receive (RX)
• Pin 1 – Transmit (TX)
• MCU INT pins brought out to pins 2, 3
Ø 8-bit PWM
• Pins 3, 5, 6, 9, 10, 11
Ø Serial Peripheral Interface (SPI)
• Pins 10, 11, 12, 13

4.1.1.3 Arduino Uno Overview – Analog

Ø Analog Inputs (A0 to A5)
Ø Sampled input:
• 0 to 5V
• 10 bits resolution
Ø AREF pin can be used to adjust
Ø upper limit of input range
Ø Two-wire Interface COM (TWI)
Ø Pin A4 – SDA pin (data)
Ø Pin A5 – SCL pin (clock)

Analog Pins

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4.1.1.4 Arduino Uno Overview – Communication

Ø Can communicate with a PC, another Arduino, shields, sensors
Ø Asynchronous communication (No clock):
• UART TTL (5V)
o Digital Pin 0 (RX) / Digital Pin 1 (TX)
• On-board ATmegaU16 programmed to function as USB to serial chip
o UART => USB format and chip appears as virtual COM port to PC
• ATmegaU16 uses standard USB COM drivers, so no external drivers are needed
Ø (Windows needs .inf file)
• TX / RX LEDs flash when data is being transmitted to and from Uno via USB
Ø to serial chip
Ø Synchronous communication (Clock) using:
• SPI
o Pin 10 – Slave Select (SS)
o Pin11–MasterOut/SlaveIn(MOSI)
o Pin12–MasterIn/SlaveOut(MISO)
o Pin 13 – Clock (SCK)
• TWI
o PinA4–SDApin(data)
o Pin A5 – SCL pin (clock)

4.1.1.5 Arduino Uno Overview – Programming

Ø Bootloader firmware preinstalled with Uno
Ø Allows you to upload new sketches via USB
Ø Can also use external programmer to upload sketches via the In-circuit serial
programmer (ICSP) pins
Ø Uno Memory
• 32KB of Flash memory (Sketches stored here)
• 2KB of SRAM (variables stored until power cycled)
• 1KB of EEPROM (store long term info: calibration constants, serial #, etc.)

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4.1.2 HC-SR04 Ultrasonic Sensor

Figure 4.3 Diagram of the basic ultrasonic sensor operation

4.1.2.1 HC-SR04 Ultrasonic Sensor – Overview

Ø What is an ultrasonic?

• ULTRA = BEYOND
• SONIC = SOUND
The sound beyond human hearing range(20000Hz) is known
as ultrasonic.
Ø What is Ultrasonic sensor?
• Ultrasonic sensors are sensors that convert ultrasound waves to electrical signals
or vice versa.

An Ultrasonic sensor is a device that can measure the distance to an object by using sound
waves. It measures distance by sending out a sound wave at a specific frequency and
listening for that sound wave to bounce back. By recording the elapsed time between the
sound wave being generated and the sound wave bouncing back, it is possible to calculate the
distance between the sonar sensor and the object.

The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like bats do. It
offers excellent non-contact range detection with high accuracy and stable readings in an
easy-to-use package. From 2cm to 400 cm or 1” to 13 feet. Its operation is not affected by
sunlight or black material like sharp rangefinders are (although acoustically soft materials
like cloth can be difficult to detect). It comes complete with ultrasonic transmitter and
receiver module.

Since it is known that sound travels through air at about 344 m/s (1129 ft/s), you can take the
time for the sound wave to return and multiply it by 344 meters (or 1129 feet) to find the total

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round-trip distance of the sound wave. Round-trip means that the sound wave traveled 2
times the distance to the object before it was detected by the sensor; it includes the 'trip' from
the sonar sensor to the object AND the 'trip' from the object to the Ultrasonic sensor (after the
sound wave bounced off the object). To find the distance to the object, simply divide the
round-trip distance in half.

4.1.2.2 HC-SR04 Ultrasonic Sensor – Features

Ø Power Supply: +5V DC
Ø Quiescent Current: <2mA
Ø Working Current: 15mA
Ø Effectual Angle: <15°
Ø Ranging Distance: 2cm – 400 cm/1″
– 13ft
Ø Resolution: 0.3 cm
Ø Measuring Angle: 30 degrees
Ø Trigger Input Pulse width: 10uS
Ø Dimension: 45mm x 20mm x 15mm

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4.1.2.3 HC-SR04 Ultrasonic Sensor Pin Configuration

Figure 4.4 Ultrasonic Sensor Pins

Pin Number Pin Name Description

1 VCC The VCC pin powers the sensor, typically with +5V

Trigger pin is an Input pin. This pin has to be kept high

2 Trigger
for 10us to initialize measurement by sending US wave.

Echo pin is an Output pin. This pin goes high for a

3 Echo period of time which will be equal to the time taken for
the US wave to return back to the sensor.

4 Ground This pin is connected to the Ground of the system.

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4.1.2.4 HC-SR04 Ultrasonic Sensor – Work

Figure 4.5 Block Diagram of Ultrasonic Sensor work

The ultrasonic sensor uses sonar to determine the distance to an object. Here’s what happens:
Ø the transmitter (trig pin) sends a signal: a high-frequency sound
Ø when the signal finds an object, it is reflected and
Ø the transmitter (echo pin) receives it.

For example, if the object is 10 cm away from the sensor, and the speed of the sound is 340
m/s or 0.034 cm/µs the sound wave will need to travel about 294 u seconds. But what we will
get from the Echo pin will be double that number because the sound wave needs to travel
forward and bounce backward. So, in order to get the distance in cm we need to multiply the
received travel time value from the echo pin by 0.034 and divide it by 2 as shown above.

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4.1.2.5 HC-SR04 Ultrasonic Sensor - Applications

Ø Used to avoid and detect obstacles with robots like biped robot, obstacle avoider
robot, path finding robot etc.
Ø Used to measure the distance within a wide range of 2cm to 400cm
Ø Can be used to map the objects surrounding the sensor by rotating it
Ø Depth of certain places like wells, pits etc. can be measured since the waves can
penetrate through water

4.1.3 L298D Motor Driver Shield

Figure 4.6 L298D Motor Driver Shield

4.1.3.1 L298D Motor Driver Shield – Overview

L293D is a monolithic integrated, high voltage, high current, 4-channel driver. Basically, this
means using this chip we can drive DC motors with power supplier up to 36 Volts, and the
chip can supply a maximum current of 600mA per channel. L293D chip is also known as a
type of H-Bridge. The H-Bridge is typically an electrical circuit that enables a voltage to be
applied across a load in either direction to an output, e.g. motor.

4.1.3.2 L298D Motor Driver Shield – Features

Ø 2 connections for 5V 'hobby' servos connected to the Arduino's high-resolution
dedicated timer - no jitter! 

Ø Up to 4 bi-directional DC motors with individual 8-bit speed selection (so, about
0.5% resolution) 

Ø Up to 2 stepper motors (unipolar or bipolar) with single coil, double coil, interleaved
or micro-stepping. 


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Ø 4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with thermal
shutdown protection, 4.5V to12V 

Ø Pull down resistors keep motors disabled during power-up 

Ø Big terminal block connectors to easily hook up wires (10-22AWG) and 
power 

Ø Arduino reset button brought up top 

Ø 2-pin terminal block to connect external power, for separate logic/motor 
supplies 

Ø T ested compatible with Mega, UNO& Duemilanove 

Ø Dimensions: 69mm x 53mm x 14.3mm (2.7in x 2.1in x 0.6in) 


4.1.3.3 L298D Motor Driver Shield – Application

Ø It is used in Robotics projects requiring stepper motor interface.
Ø Multiple DIY projects.

4.1.4 SG-90 Servo Motor

Figure 4.7 SG-90 Servo Motor

4.1.4.1 Servo Motors – Overview

A servo motor is an electrical device which can push or rotate an object with great precision.
If we want to rotate and object at some specific angles or distance, then we use servo motor. It
is just made up of simple motor which run through servo mechanism. If motor is used is DC
powered then it is called DC servo motor, and if it is AC powered motor then it is called AC
servo motor. We can get a very high torque servo motor in a small and light weight packages.
Doe to these features they are being used in many applications like toy car, RC helicopters and
planes, Robotics, Machine etc. The position of a servo motor is decided by electrical pulse and
its circuitry is placed beside the motor.
Now day’s servo system has huge industrial applications. Servo motor applications are also
commonly seen in remote controlled toy cars for controlling direction of motion and it is also
very commonly used as the motor which moves the tray of a CD or DVD player. Beside
these there are other hundreds of servo motor applications we see in our daily life. The main

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reason behind using a servo is that it provides angular precision, i.e. it will only rotate as
much we want and then stop and wait for next signal to take further action. This is unlike a
normal electrical motor which starts rotating as and when power is applied to it and the
rotation continues until we switch off the power. We cannot control the rotational progress of
electrical motor; but we can only control the speed of rotation and can turn it ON and OFF.

4.1.4.2 Servo Mechanism

It consists of three parts:
Ø Controlled device
Ø Output sensor
Ø Feedback system

It is a closed loop system where it uses positive feedback system to control motion and final
position of the shaft. Here the device is controlled by a feedback signal generated by
comparing output signal and reference input signal.

Figure 4.8 diagram of Servo Closed Loop System

Here reference input signal is compared to reference output signal and the third signal is
produces by feedback system. And this third signal acts as input signal to control device. This
signal is present as long as feedback signal is generated or there is difference between
reference input signal and reference output signal. So, the main task of servomechanism is to
maintain output of a system at desired value at presence of noises.

4.1.4.3 Servo Motors - Working principle

A servo consists of a Motor (DC or AC), a potentiometer, gear assembly and a controlling
circuit.
First of all, we use gear assembly to reduce RPM and to increase torque of motor. Say at
initial position of servo motor shaft, the position of the potentiometer knob is such that there
is no electrical signal generated at the output port of the potentiometer. Now an electrical

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signal is given to another input terminal of the error detector amplifier. Now difference
between these two signals, one comes from potentiometer and another comes from other
source, will be processed in feedback mechanism and output will be provided in term of error
signal. This error signal acts as the input for motor and motor starts rotating. Now motor shaft
is connected with potentiometer and as motor rotates so the potentiometer and it will generate
a signal. So as the potentiometer’s angular position changes, its output feedback signal
changes. After sometime the position of potentiometer reaches at a position that the output of
potentiometer is same as external signal provided. At this condition, there will be no output
signal from the amplifier to the motor input as there is no difference between external applied
signal and the signal generated at potentiometer, and in this situation motor stops rotating.

4.1.4.4 Servo Motors – Controlling

Figure 4.9 Position of motor shaft when PWM is generated.

Servo motor is controlled by PWM (Pulse with Modulation) which is provided by the control
wires. There is a minimum pulse, a maximum pulse and a repetition rate. Servo motor can
turn 90 degrees from either direction form its neutral position. The servo motor expects to see
a pulse every 20 milliseconds (MS) and the length of the pulse will determine how far the
motor turns. For example, as shown above Figure 4.9 a 1.5ms pulse will make the motor turn
to the 90° position, such as if pulse is shorter than 1.5ms shaft moves to 0° and if it is longer
than 1.5ms than it will turn the servo to 180°. Servo motor works on PWM (Pulse width
modulation) principle, means its angle of rotation is controlled by the duration of applied
pulse to its Control PIN.
Basically, servo motor is made up of DC motor which is controlled by a variable resistor
(potentiometer) and some gears. High speed force of DC motor is converted into torque by
Gears. We know that WORK= FORCE X DISTANCE, in DC motor Force is less and
distance (speed) is high and in Servo, force is High and distance is less. Potentiometer is

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connected to the output shaft of the Servo, to calculate the angle and stop the DC motor on
required angle.
To recap, there are two important differences between the control pulse of the servo motor
versus the DC motor. First, on the servo motor, duty cycle (on-time vs. off-time) has no
meaning whatsoever—all that matters are the absolute duration of the positive-going pulse,
which corresponds to a commanded output position of the servo shaft. Second, the servo has
its own power electronics, so very little power flows over the control signal. All power is
draw from its power lead, which must be simply hooked up to a high-current source of 5
volts.

4.1.4.5 Servo Motors – Applications

Ø Robotics
Ø Animatronics
Ø Radio Control Cars/Boats/Planes

4.1.4.6 Servo Motors – Advantages

Ø Low cost - (RC Servos) Smaller sized servos can be purchased for just a few dollars.
Ø Variety - There is a wide range of sizes and torque ratings
Ø Simple to control - using logic level pulses from a microcontroller or a dedicated
servo controller

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4.1.5 DC motor

Figure 4.10 DC Motors

4.1.5.1 DC Motor – Overview

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.

4.1.5.2 DC Motor – Types

These types of motors are powered by direct current (DC).
Ø Brushed Motors
Ø Brushless Motors
Ø Planetary Gear Motors
Ø Spur Gear Motors
Ø Stepper Motors
Ø Coreless & Coreless Brushless Motors
Ø Servo Motors
Ø Gear heads Motors

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4.1.5.3 DC Motor – Gear Motor

Figure 4.11 DC Motor – Gear Motor

Gear Motors – The most common electrical motors convert electrical energy to mechanical
energy.
A gear motor is an all-in-one combination of a motor and gearbox. The addition of a gear
head to a motor reduces the speed while increasing the torque output. The most important
parameters in regards to gear motors are
Ø Speed (rpm)
Ø Torque (lb.-in)
Ø Efficiency (%)

In order to select the most suitable gear motor for our application we must first compute:
Ø Load
Ø Speed
Ø Torque requirements for our application

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4.2 robot working principle

The robot uses the Ultrasonic distance sensor to measure the distance in front of it. When this
distance reduces to a particular level, the robot interprets it to mean the presence of an
obstacle in its path. When the robot detects an obstacle in its path, it stops, goes backward for
a few cm, looks around (right and left) then turn towards the direction that shows more free
space in front of it.

Figure 4.12 Block diagram of Robot working principle

4.3 Hardware components:

1. 1x Arduino Uno
2. 1x Robot Chassis as designed
3. 1x Arduino Motor Driver Shield L293D Model
4. 1x HC-SR04 Ultrasonic Sensor
5. 1x Micro Servo 9g (SG90)
6. 2x DC Motor + Gearbox
7. 2x Wheels
8. 1x Caster wheel
9. 2x 9v Battery
10. 1x 9v Battery Clip
11. Jumper Wires as required
12. 1x ON/OFF Switch

4.4 Necessary Tools and Machines:

• 1x Soldering Iron (generic)
• Solder as required

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• 1x Hot Glue Gun (generic)

• Hot Glue as required
• Arduino IDE (Integrated Development Environment)
• Proteus 8 Pro Simulation Software

4.5 the project chassis Design

Figure 4.13 The final Design of the Robot Chassis

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4.6 Constructing the Chassis

To begin, we start by coupling the chassis of the robot. The robot kit, contains the chassis,
two geared DC motors, the wheels, the front wheel, battery holder, some screws, and wires.

Figure 4.14 Chassis Robot Components

Figure 4.15 3D Print chassis plate

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Ø Step 1. Connect the motor and wheels to the chassis.

• To complete this step, we start by soldering the thick red and black wires to
the positive and negative terminals of the motors as shown in the image
below.

Figure 4.16 Soldering the DC Motors

• attach the front wheel as shown in the image below.

Figure 4.17 attach the front wheel

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• attach the rear wheels to the chassis

Figure 4.18 attach the rear wheels to the chassis

Ø Step 2. Prepare the Switch and connect the Power Source

we add a switch to the battery holder so that we will be able to turn the robot on or off. The
switch is connected according to the schematics shown below and attached to the case using a
hot glue. The Battery case is attached to the chassis using a double-sided tape to ensure
everything sticks together.

Figure 4.19 schematic circuit diagram of the switch and the power source

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Figure 4.20 Soldering the ON/OFF Switch

Ø Step 3. installation the others parts of the robot

This step is to mount other parts of the robot before we start connecting their wires. The
motor shield is stacked on the Arduino and it is mounted on the chassis using a double-sided
tape. The current requirements of the motors are often higher than what the Arduino can
provide, that is why it’s important to use the motor shield as it is equipped with additional
circuitry to provide up to 600mA current to each of the motors. This shield provides power to
the motors and the servo motor and ultrasonic sensor and makes it much easier. The
Ultrasonic sensor is also mounted on the top of the servo motor which is then mounted on the
chassis using some screws.

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Figure 4.21 The hardware model depicting my project model ( Obstcle Avoiding Robot)

Ø Step 4. Wire up the components

To simplify the connections, below is a pin map of how the components connect, one to the
other.
Wire up the components together as shown in the image below.

Figure 4.22 Schematics Block Diagram of wire up the components

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Ø Ultrasonic Sensor ▶ Motor Shield

• VCC ▶ 5v
• Gnd ▶ Gnd
• Trig ▶ A4
• Echo ▶ A5

Figure 4.23 connect ultrasonic sensor Pins to the Motor Shield

Figure 4.24 Block Diagram of connect ultrasonic sensor Pins to the Motor Shield

Ø Servo ▶ Motor Shield (Servo_2 port)

• Signal (yellow wire) ▶ S
• Vcc(Red wire) ▶ +
• Gnd(Blow wire) ▶ -

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Figure 4.25 Wire up the Servo Motor to Motor Shield (Servo _ port 2)

Ø DC motors ▶ Motor Shield

• Left Motor ▶ M1
• Right Motor ▶ M2

Figure 4.26 Wire up the DC motors to Motor Shield

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4.7 programing the robot code

The controller board is used to communicate with the PC using serial communicator (USB
connection). The data is transferred between them bit by bit. An adaptor is used to supply
power to the controller board and a USB programmer is used to burn the hardware program
(written in Arduino IDE) into the Arduino board.
The Arduino integrated development environment (IDE) is a cross-platform application (for
Windows, macOS, Linux) that is written in the programming language Java. It originated
from the IDE for the languages Processing and Wiring. It includes a code editor with features
such as text cutting and pasting, searching and replacing text, automatic indenting, brace
matching, and syntax highlighting, and provides simple one-click mechanisms to compile and
upload programs to an Arduino board. It also contains a message area, a text console, a
toolbar with buttons for common functions and a hierarchy of operation menus. The source
code for the IDE is released under the GNU General Public License, version 2.
The use of Artificial Intelligence in the designing of the robot is introduced in the
programming phase of the robot. The programming for the Obstacle Detecting and Avoiding
Robot is done in C Language and uses various pre-defined header file.

Figure 4.27 Arduino integrated development environment (IDE)

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4.7.1 Processes and flow of program

Figure 4.28 The Algorithm/ Flowchart Diagram of The Obstacle-avoiding Robot Car Based
on Arduino Microcontroller

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4.7.2 Arduino Coding

The code uses three libraries. Two of them must be downloaded in order for the program to
compile. The first one is the motor shield driver from Adafruit. The second library is the
NewPing library for the supersonic distance sensor.
The first thing we do in the code is to include the libraries that have been downloaded into
the code.

Ø Motor Shield Library

Ø New Ping Library
Ø Servo Motor Library

#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>
Next, we declare the pins to which or ultrasonic sensor is connected to, and some variables
which will be used to store info as the code runs then we set the speed of the motors. We can
set the motors speed in any value up to 255.
#define TRIG_PIN A4 // Arduino pin tied to trigger pin on the ultrasonic
sensor.
#define ECHO_PIN A5 // Arduino pin tied to echo pin on the ultrasonic sensor.

#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in

centimeters). Maximum sensor distance is rated at 250cm.
#define MAX_SPEED 200 // sets speed of DC motors

#define MAX_SPEED_OFFSET 20
Next, we Initialize the servo motor by creating an object of the servo library. We Also
initialize the Motors to which the wheels are connected using the AF library.
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(3, MOTOR12_1KHZ);

Servo myservo;
We then move into the void setup () function where we initialize the servo motor and we set
it to “look” straight. In my case, this was at 115 degrees angle.
Next, we read the distance a few times in order to get a valid distance measurement as shown
below

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void setup() {

myservo.attach(9); // Attaches the servo on pin 9 to servo object.

myservo.write(115);
delay(2000); // Wait for 2s.

distance = readPing(); // Get Ping Distance.

delay(100); // Wait for 100ms.

distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}

Now we go to the loop function which executes every 40 Ms. If the distance we measured is
less than or equal to 15 cm, we stop the motors, reverse for 300ms, stop, look right and left
and measure the distance in each direction. If the distance in one direction is greater than the
other we turn the robot to the direction with the farthest/greatest distance and instruct it to
move forward as shown below.
void loop() {
int distanceR = 0;
int distanceL = 0;
delay(40);

if(distance<=15)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
distanceR = lookRight();
delay(200);
distanceL = lookLeft();

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delay(200);

if(distanceR>=distanceL)
{
turnRight();
moveStop();
}else
{
turnLeft();
moveStop();
}
}else
{
moveForward();
}
distance = readPing();
}

4.7.3 Servo System

this autonomous robot (auto mode) has 5 statuses: move forward, stop, move backward, scan
right and left, and turn right or left. Since only 1 distance sensor used in this project, the
sensor must have the capability to turn around to scan for alternative way to move so it must
attach together with servo. The servo shaft can be turn in 180 degrees to help the sensor scan
the obstacle around and choose the clear path to move along. A homemade bracket used to
attach the sensor to the servo.

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Figure 4.29 Turning function by servo motor to detect obstacles

4.7.3.1 Servo System Coding

int lookRight() // Look Right Function for Servo Motor.

{
myservo.write(50);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
}

int lookLeft() // Look Left Function for Servo Motor.

{
myservo.write(170);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
delay(100);
}

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4.7.4 Sensor System

The obstacle sensor is used avoiding the robot from the clash to any external devices or that
is like walls, any obstacle which comes in its way. Here I used the Ultrasonic Sensor as
shown below.

Figure 4.30 Ultrasonic Sensor

4.7.4.1 Sensor System Coding
int readPing() // Read Ping Function for Ultrasonic Sensor.

{
delay(70); // Wait 70ms between pings (about 20 pings/sec).

int cm = sonar.ping_cm(); //Send ping, get ping distance in centimeters

(cm).
if(cm==0)
{
cm = 250;
}
return cm;
}

4.7.5 Driving system

we will be using the following rotation of wheel for steering and straight motion:

MOTION RIGHT Wheel Left Wheel

FORWARD Counter Clockwise Clockwise
BACKWARD Clockwise Counter Clockwise
Rotate RIGHT Counter Clockwise Counter Clockwise
Rotate LEFT Clockwise Clockwise

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Figure 4.31 Robot Driving System

4.7.5.1 Driving system Coding

void moveStop() // Move Stop Function for Motor Driver.

{
motor1.run(RELEASE);
motor2.run(RELEASE);
}

void moveForward() // Move Forward Function for Motor Driver.

if(!goesForward)
{
goesForward=true;
motor1.run(FORWARD);
motor2.run(FORWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly
bring the speed up to avoid loading down the batteries too quickly

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{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
delay(5);
}
}
}

void moveBackward() // Move Backward Function for Motor Driver.

{
goesForward=false;
motor1.run(BACKWARD);
motor2.run(BACKWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly
bring the speed up to avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
delay(5);
}
}

void turnRight() // Turn Right Function for Motor Driver.

{
motor1.run(FORWARD);
motor2.run(BACKWARD);
delay(300);
motor1.run(FORWARD);
motor2.run(FORWARD);
}

void turnLeft() // Turn Left Function for Motor Driver.

{
motor1.run(BACKWARD);
motor2.run(FORWARD);

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delay(300);
motor1.run(FORWARD);
motor2.run(FORWARD);
}

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5 Chapter five: Conclusion and Recommendation.

5.1 Conclusion
Today we are in the world of robotics. Knowingly or unknowingly, we have been using
different types of robots in our daily life.
The project is “obstacle detection and the avoidance robot” is practically proved by using the
Ultrasonic sensor for sensing the robot, Motor Shield Driver for the driving the dc motors, dc
motor is used for the movement of the robot with the help of the Arduino Microcontroller.
A lot of factors determined the accuracy of the robot we designed. These factors were the
environmental phenomenon in which the robot was tested, the number of obstacles present
making the test space crowded or relatively less crowded the type and shape of the obstacle
(the robot is designed for a uniform shaped obstacle).
These factors majorly affected the sensors. The accuracy of the robot is dependent on the
sensors used. Thus, the nature of the sensor and its accuracy defined the accuracy of my
robot.

5.2 Future Recommendations

Ø Adding a Camera: If the current project is interfaced with a camera (e.g. a Webcam)
robot can be driven beyond line-of-sight & range becomes practically unlimited as
networks have a very large range.
Ø Use as a fire fighting robot: By adding temperature sensor, water tank and making
some changes in programming we can use this robot as firefighting robot.
Ø We can extend this project with wireless technology by IR (or) RF (or) ZIGBEE.
Ø We can use the DTMF receiver by using the mobile phone.
Ø This robot can be used for pick and place the required object by giving directions to
the robot but ultrasonic sensor should be replaced depending upon the application.

5.3 Future Works

To enable robots to be able to adapt to its environment is an important domain of robotics
research. Whether this environment be underwater, on land, underground, in the air or in
space.
A fully autonomous robot has the ability to
Ø Work for an extended period of time without intervention from human or a need for
power supply.
Ø Avoid situations that are harmful.

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 华北电力大学本科毕业设计（论文）

Ø Move either all or part of itself throughout its operating environment.

The most effective method to increase the accuracy of my robot is the inclusion of better
sensors, although the project cost might increase but the accuracy will definitely increase as
well as the problem space where the robot can be used. Better actuators will result in a faster
and more efficient robot.

5.4 Advantages
Ø Collision control.
Ø It provides Safe Navigation.
Ø This is the basic of all robot and has a wide scope of extensions

5.5 Limitations
The performance of this robot mainly depends on the sensors and number of sensors.
The ultrasonic sensor used here is of commercial application so it may easily undergo
interference.

5.6 Problems Faced

Although the concept and design of the project seemed perfect, there were some problems
faced while actual implementation:
The sensor cannot accurately measure distance to an object if:
Ø Object > 3 meters
Ø Too shallow of angle
Ø Object is too small
Ø object surface is not reflective

Figure 5.1 Ultrasonic Sensor Problems Faced

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 华北电力大学本科毕业设计（论文）

REFERENCES
[1] N. Senthil Kumar,M.Saravanan,S Jeebananthan ,“Microprocessors & Microcontrollers”,

Oxford University Press,4th Edition,2012,ISBN:978-0- 19-806647-7

[2] Vision-based obstacles detection for a mobile robot ElHalawany, B.M.; Abdel-Kader,
H.M.; TagEldeen, A.; Ahmed, A.E.S.; Nossair, Z.B. Informatics and Systems (INFOS), 2012
8th International Conference on Year: 2012
[3] T. Ishida, and Y. Kuroki, “Sensor System of a small Biped Entertainment Robot”,
Advanced Robotics, © VSP and Robotics Society of Japan,Vol. 18, No. 10, pp 1039-1052,
2004,
[4] Arduino Step by Step Book
[5] J. Grefenstette and A. Schultz. “An Evolutionary Approach to Learning in Robots”
Machine Learning Workshop on Robot Learning, New Brunswick, 1994. 

[6] Marija Seder. “Hierarchical Path Planning of Mobile robots in Complex Indoor
Environments”, June 2011, University of Zagreb.
[7] B. Ram, “Fundamental of Microprocessors & Microcontrollers”, Dhanpat Rai
Publication,Seventh Edition, ISBN:978-81-89928-60-5
[3] M. C. Lam, A. S. Prabuwono, H.
Arshad, C. S. Chan, “A Real-Time Vision-Based Frameworkfor Human-Robot Interaction”, ,
7066Lecture Notes .in Computer Science (Part 1),2011, pp. 257-267, IVIC 2011. 

[8] LINK: http://science.howstuffworks.com/robot2.htm

[9] LINK: http://en.wikipedia.org/wiki/Robotics

[10] LINK: http://en.wikipedia.org/wiki/Artificial_intelligence
[11] D. Floreano and J. Urzelai. “Evolutionary Robots with Online Self-Organization and
Behavioral Fitness”, June 2000.
[12] http://www.alldatasheet.com/
[13] https://www.adafruit.com
[14] https://www.arduino.cc
[15] https://playground.arduino.cc/Code/NewPing
[16] https://www.arduino.cc/en/Reference/Servo

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APPENDIX:

Robot Coding
#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>
#define TRIG_PIN A4
#define ECHO_PIN A5
#define MAX_DISTANCE 200
#define MAX_SPEED 200 // sets speed of DC motors
#define MAX_SPEED_OFFSET 20
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(4, MOTOR12_1KHZ);
Servo myservo;
boolean goesForward=false;
int distance = 100;
int speedSet = 0;
void setup() {
myservo.attach(9);
myservo.write(115);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}

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 华北电力大学本科毕业设计（论文）

void loop() {
int distanceR = 0;
int distanceL = 0;
delay(40);

if(distance<=15)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
distanceR = lookRight();
delay(200);
distanceL = lookLeft();
delay(200);

if(distanceR>=distanceL)
{
turnRight();
moveStop();
}else
{
turnLeft();
moveStop();
}
}else
{
moveForward();
}
distance = readPing();
}

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 华北电力大学本科毕业设计（论文）

int lookRight()
{
myservo.write(50);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
}

int lookLeft()
{
myservo.write(170);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
delay(100);
}

int readPing() {
delay(70);
int cm = sonar.ping_cm();
if(cm==0)
{
cm = 250;
}
return cm;
}

void moveStop() {
motor1.run(RELEASE);
motor2.run(RELEASE);
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 华北电力大学本科毕业设计（论文）

void moveForward() {

if(!goesForward)
{
goesForward=true;
motor1.run(FORWARD);
motor2.run(FORWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to
avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
delay(5);
}
}
}

void moveBackward() {
goesForward=false;
motor1.run(BACKWARD);
motor2.run(BACKWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to
avoid loading down the batteries too quickly
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet+MAX_SPEED_OFFSET);
delay(5);
}
}
void turnRight() {
motor1.run(FORWARD);
motor2.run(BACKWARD);
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 华北电力大学本科毕业设计（论文）

delay(300);
motor1.run(FORWARD);
motor2.run(FORWARD);
}
void turnLeft() {
motor1.run(BACKWARD);
motor2.run(FORWARD);
delay(300);
motor1.run(FORWARD);
motor2.run(FORWARD);
}

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 华北电力大学本科毕业设计（论文）

Acknowledgements
First of all, I would like to thank ALLAH for giving me the strength and wisdom and courage
to complete this thesis.
This thesis is dedicated to my family for their love and support, for believe in me.
I would like to express my most sincere gratitude to my Supervisor Dr. PI WEI for giving me
the opportunity to be involved with such a subject that is interesting and modern and for his
guidance throughout the entire process.
I would also like to thank all of my classmates and for their help, support and friendship
through all the past four years.
and special thanks to my inspiration, my motivation (N) for standing by me.
Last but not the least, I would like to thank Chinese Government and NCEPU for infinite
support.
“I’ll never be able to give you back what you gave me”.

Thank You CHINA

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