PROJECT ON

OBSTACLE AVOIDING ROBOT

Submitted by
B.V.Mahesh 180040010
K.Jyothi Chandra 180040033
A.Rudra Sai Babu 180040036
V.V.S.Varun 180040046
JI Hari Varma 180040115

Sec - 06, Batch -01

I/IV BACHELOR OF TECHNOLOGY

IN

Electronics and Communication engineering

(SEMESTER-II)

WORKSHOP PRACTICE FOR ELECTRICAL & ELECTRONICS ENGINEERS

DEPARTMENT OF BASIC ENGINEERING SCIENCES - II

KoneruLakshmaiah Education Foundation

VADDESWARAM-522 502

April 2019

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 KoneruLakshmaiah Education Foundation
DEPARTMENT OF BASIC ENGINEERING SCIENCES - II
Workshop practice for Electrical & Electronics engineers (18EE1003)

Mr.B.V.Mahesh-180040010, Mr. K.Jyothi

This is to certify that
Chandra-180040033, Mr. A.Rudra Sai Babu-180040036, Mr.
V.V.S.Varun-180040046& Mr. Hari Varma-180040115 of section
06studying I/IV B.Tech in ECEhas satisfactorily completed project OBSTACLE
AVOIDING ROBOT in the semester IIduring the academic year 2018-2019

Signature of Course Instructor Signature of Course Coordinator

Signature of HOD

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 ACKNOWLEDGEMENT

We express great pleasure for me to express my gratitude to our honourable

President Sri. KoneruSatyanarayana, for providing the opportunity and platform
with facilities in accomplishing the project based laboratory.We express the sincere
gratitude to our principal Dr. N. Venkatram for his administration towards our
academic growth.

We express sincere gratitude to our Coordinator Dr.V.Krishna Reddyand

Head of the department of BES - IIDr. S. N. PADHIfor his leadership and
constant motivation provided in successful completion of our academic semester.
We record it as our privilege to deeply thank for providing us the efficient faculty
and facilities to make our ideas into reality.

We express my sincere thanks to our project supervisor Mr. Gopi Ram for his
novel association of ideas, encouragement, appreciation and intellectual zeal which
motivated us to venture this project successfully.

We are pleased to acknowledge the indebtedness to our lab technicianswho

devoted themselves directly or indirectly to make this project success.

Last but not the least we express our deep gratitude and affection to our
parents who stood behind us in all our endeavours.

B.V.Mahesh 180040010
K.Jyothi Chandra 180040033
A.Rudra Sai Babu 180040036
V.V.S.Varun 180040046
HariVarma180040115

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 TABLE OF CONTENTS

S.NO CONTENTS PAGE NO

1. Abstract 5

2. Introduction 6

3. Principle or Methodology 7

4. Architecture of project 8

5. Components required 9

6. Working 10

7. Code 11

8. Advantages 14

9. References 15

ABSTRACT

Obstacle Avoiding Robot is an electrical instrument that can change it’s direction
if any obstacle comes in front of it and starts moving in that direction. It is an
Arduino based project. The microcontrollers Arduino board can be programmed
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using C and C++ languages. When a code is written in arduino UNO IDE software
and connected to the board through a USB cable.

Arduino boards have lot of applications in the present day scenario, so we have
decided to do a small project on them.

Introduction to arduino board

Defining Arduino: An Arduino is actually a microcontroller based kit which

can be either used directly by purchasing from the vendor or can be made at home
using the components, owing to its open source hardware feature. It is basically
used in communications and in controlling or operating many devices.

How to program an Arduino?

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The Arduino tool window consists of the toolbar with the buttons like verify,
upload, new, open, save, serial monitor. It also consists of a text editor to write the
code, a message area which displays the feedback like showing the errors, the text
console which displays the output and a series of menus like the File, Edit, Tools
menu. Thus the code is uploaded by the bootloader onto the microcontroller.

What is an ultra sonic sensor?

Ultra sonic sensor is an interesting measuring instrument that is used for measuring
the between any two points in the circuit. It is of extreme importance and is widely
used in circuit analysis and debugging nowadays.As we know that the units of
resistance are ohms, so we know that where the name of this device comes from, as

it measures the ohms between any two points in the circuit.

How does the robot works?

The vast majority of robots do have several qualities in common. First of all,
almost all robots have a movable body. Some only have motorized wheels, and
others have dozens of movable segments, typically made of metal or plastic. Like
the bones in your body, the individual segments are connected together with joints.
Robots spin wheels and pivot jointed segments with some sort of actuator. Some
robots use electric motors and solenoids as actuators; some use a hydraulic system;
and some use a pneumatic system (a system driven by compressed gases). Robots
may use all these actuator types. A robot needs a power source to drive these
actuators. Most robots either have a battery or they plug into the wall. The robot's
computer controls everything attached to the circuit. To move the robot, the
computer switches on all the necessary motors and valves. Most robots
are reprogrammable -- to change the robot's behavior, you simply write a new
program to its computer.

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  Laws behind the robot

1. A robot may not injure a human being or, through inaction, allow a human
being to come to harm.
2. A robot must obey orders given it by human beings except where such
orders would conflict with the First Law.
3. A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law.

ROBOT USING ARDUINO:

If you have a hard time reading the colour bands on resistors , this project is
perfect. Instead of struggling every time you need to find the resistance of a
resistor, just build an ohmmeter and measure all of your resistors.The circuit is
sufficiently accurate and uses minimum number of external components
possible.

/Diode/Continuity/

BLOCK DIAGRAM OF PROJECT

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Procedure:
Components Required:
In this project we have used the arduino and ohmmeter along with the jumping
wires and the resistors and details list of the hard ware components are

 Arduino board and arduino cable

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 Resistors

 Jumper wires

 Bread board
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Working

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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);
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    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);
 }
}

Advantages:

1. The cost effective : The cost effectiveness is one of the primary aim as the
ohmmeter available in the market for lower value measurement are costly than the
ohmmeter used for the measurement of high value resistance . Due to its high cost
the bulk purchasing of such ohmmeter becomes an expensive task. Therefore the
industries manufacturing the resistor of low value require cost effectiveness of
ohmmeter. The above system achieves this requirement effectively.

2. Improvised accuracy  the IDE works with a specific scenario in mind. As

of the latest 0017 release, multiple sketches and consoles are supported.
This solves some of the issues, but it’s hard to automate this further: after
uploading, I still have to manually launch the serial console. If I have some
other app talking to the hardware, there is no mechanism to upload a new
sketch and then resume that app because the serial USB connection is
dedicated..

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3.hardware complexity

The Arduino “shield” concept doesn’t extend very far, because each shield
determines which pins it needs. Pins are a scarce resource, and each pin
location on the connector is fixed. It’s hard to design shields
which will actually stack with others. Even more so now that there is a new
Arduino Mega with slightly different pin allocations.
Software modules 

Conclusions:
In this project we came to know the working of Arduino, its hardware / software
features and its applications as to where it is currently being used. We have also
learnt how to write sketches for Arduino in its own IDE (software). Developing
new ideas with Arduino is endless. The possibilities of using an Arduino to learn
and develop new ideas are infinite. Though it does have its own limitations, it is a
great tool that can be used in learning.

References

[1] ARDUINO.CC, “Arduino – Introduction”, 2015 [Online] Available:

http://arduino.cc/en/Guide/Introduction. [Accessed: 25- Feb - 2015].

[2] Arduino.cc, 'Arduino - Products', 2015. [Online]. Available:

http://arduino.cc/en/Main/Products. [Accessed: 25- Feb- 2015].

[3] ArduPilot Mega, 'ArduPilot Mega', 2015. [Online]. Available:

http://www.ardupilot.co.uk/. [Accessed: 23- Nov- 2015].

[4] Wikipedia, 'ArduSat', 2015. [Online]. Available:

http://en.wikipedia.org/wiki/ArduSat. [Accessed: 23- FEB- 2015].

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