A

CAPSTONE PROJECT REPORT

OF

“OBSTRACAL AVOIDING VEHICLE”

Maharashtra state Board of Technical Education, Mumbai
Hadawale Tejas Narendra
Gite Vaibhav Uttam
Hinde Dharmaraj Hirama
Deshmukh Shriraj Gorakshanath

Under the guidance of.

Prof. Kotkar S.S

DEPARTMENT Of MECHANICAL ENGINEERINGAMRUTVAHINI

POLYTECHNIC, AMRUTNAGAR

TAL-SANGAMNER, DIST-AHMEDNAGAR, (M.S.) INDIA-422608

2020-2021

I st SHIFT (0080)
 Amrutvahini Sheti and Shikshan Vikas Sanstha’s

AMRUTVAHINI POLYTECHNIC, SANGAMNER

Department of Mechanical Engineering

CERTIFICATE
Deshmukh Shriraj Gorake.
Hinde Dharmaraj Hirama
Gite Vaibhav Uttam
Hadawale Tejas Narendra
“OBSTRACAL AVOIDING VEHICLE”

Have satisfactorily carried out and completed the Capstone Project work.

This work is being submitted for the award of Diploma in

Mechanical Engineering.

It is submitted in the partial fulfilment of the prescribed syllabus of

MSBTE, Mumbai

For the academic year 2020-2021

Prof. Kotkar S.S. Prof.Ingole M.W.

(Guide) (H.O.D)
 MAHARASHTRA STATE BOARD OF TECHNICAL EDUCATIONMUMBAI

Capstone Project Entitled

“OBSTRACAL AVOIDING VEHICLE”

Submitted

By

Deshmukh Shriraj Gorakshanath

Hinde Dharmaraj HiramanIs

Gite Vaibhav Uttam

Hadawale tejas narendra
approved for the Diploma in Mechanical Engineering

External Examiner Co-ordinator

Date :

Place : Sangamner.
 ACKNOWLEDGEMENT

Project plays an integral part in an engineering students educational life without

which the education is incomplete. It not only provides the technical knowledge
regarding the concerned field but enhance the practical skill. It turns knowledge in
to reality . Here one can see knowledge being put into action , which not only acts
as cements linking of knowledge but also creates confidence in an engineering
student. We have no words to express sincere thanks to AMRUTVAHINI
POLYTCHNIC, SANGAMNER. We sincerely thank the project guide Prof.
Kotkar S.S and project Co- ordinator Prof. Maldhure S.S . for his valuable
guidance and suggestion from time to time through the completion of project . We
are indeed to very thankful to Principal Prof. Dhumal V.B. and Head of
Department Prof. Ingole M.W For their kindly help . We are also thankful to all
the staff of Mechanical Engineering Department for their co-operation the
project is completed successfully and also thankful to all the friends to give us
many help regardingthis project.

Deshmukh Shriraj Gorakshanath

Hinde Dharmaraj Hiraman
Gite Vaibhav Uttam
Hadawale tejas narendra
 Abstract

Development of obstacle avoiding vehicle model is required as a fundamental step towards a

bigger goal, for example development of an autonomous vehicle. An obstacle avoiding vehicle
uses a proximity sensor module, besides other parts. In this case, this robot uses a proximity
sensor developed by ourselves. The vehicle is controlled by a program that is embedded into a
microcontroller. The logics produced by the microcontroller are further processed by an
interface module, in this case, also developed by ourselves. The interface module translates
microcontroller’s logics into voltage and current that can practically drive the four motors. This
article provides a reporton the project activity, consisting of summary of the design, summary of
the development process and report on the running test of the robot. It has been proven that the
vehicle model operated well just as programmed.

key words :-(obstacle avoidance, ultrasonic sensor, arduino microcontroller,

autonomous robot, Arduino software.)
 INDEX

SR NO. CONTENT. PAGE NO.

1. INTRODUCTION
2. LITRATURE SURVEY
3. DESIGH AND HARDWARE
4. CIRCUIT DIAGRAM
5. WORKING PRINCIPLE
6. APPLICATIONS
7. CODEING
8. COSTING
9. CONCLUSION & REFERENCE
CHAPTER - 1

INTRODUCTION
 Now day’s many industries are using robots due to theirhigh level of performance
and reliability and which is a great help for human beings. The obstacle avoidance robotics is
used for detecting obstacles and avoiding the collision. This is an autonomous robot. The design
of the obstacle avoidance robot requires the integration of many sensors according to their task.

Obstacle detection is the primary requirement of this autonomous robot. The

robot gets the information from the surrounding area through mounted sensors on the robot.
Some sensing devices used for obstacle detection like bump sensors, infrared sensors, ultrasonic
sensors, etc. The ultrasonic sensor is most suitable for obstacle detection and it is of low cost and
has ahigh ranging capability.
 CHAPTER-2

LITERATURE SURVEY
Literature Survey-
“obstacle avoidance vehicle using arduino” has been designed and
developed by Aamir attar, Aadilansari, Abhishekdesai, Shahid khan, Dipashrisonawale to create
an autonomous robot which intelligently detects the obstacle in its path and navigates according
to the actions that user set for it. So this system provides an alternate way to the existing system
by replacing skilled labor with robotic machinery, which in turn can handle more patients in less
time with better accuracy and a lower per capita cost [1]. “Obstacle-avoiding robot with IR and
PIR motion Sensors” has been designed and developed by Aniket D. Adhvaryu et al has proposed
that developed robot platform was not designed for specific task but as a general wheeled
autonomous platform. It can therefore be used for educational, research or industrial
implementation. Students can use it to learn the microcontroller programming using C++,
Arduino Uno 1.6.5 compiler, IR and PIR sensors characteristics, motor driving circuit and signal
condition circuit design. Research on obstacle avoidance robot at the polytechnic level can help
students to develop communication, technical skills and teamwork. The design of such robot is
very flexible and various methods can be adapted for another implementation. It shows that PIR
sensors are more sensitive compared to IR sensors while detecting human being [2]. “Obstacle
Avoidance Robotic Vehicle Using Ultrasonic Sensor, Android and Bluetooth for Obstacle
Detection” has been designed and developed by Vaghela et.al has mentioned that enormous
amount of work has been done on wireless gesture controlling of robots. Various methodologies
have been analyzed and reviewed with their merits and demerits under various operational and
functional strategies. Thus, it can be concluded that features like user friendly interface, light
weight and portability of android OS based smart phone has overtaken the sophistication of
technologies like programmable glove, static cameras etc., making them obsolete. Although
recent researches in this field have made wireless gesture controlling a ubiquitous phenomenon,
it needs to acquire more focus in relevant areas of applications like home appliances,
wheelchairs, artificial nurses, table top screens etc. in a collaborative manner [3]. “Obstacle
Avoidance Robot” has been designed and developed by Paul Kinsky,Quan Zhou mentioned that
robot with a few mechanical components to add two more functions to the main body, namely
the laptop holder and the camera holder. AT89S52 development board is designed, developed
and tested in a large scale, which was used to control the motors smoothly. the cameras with
relatively low cost are fixed and adjusted on the camera holder for good calibration of the
computer vision.Users establish the serial communication method between the upper laptop and
the lower development board with USB port. The laptop will send out a signal of the motor
condition to the development board [4]. “obstacle avoidance car” has been designed and
developed by FaizaTabassum, et.al has mentioned that Obstacle Avoidance Car successfully
detects and avoids obstacles. Simple algorithms used to steer and reducing the turning radius,
successfully navigated the vehicle. In conclusion, the group successfully interfaced every
component that was originally planned. Timer interrupts for IR pulse generation. Obstacle
detection using IR transceiver. Servo mechanism using PWM. Steering system using Lego.
 CHAPTER-3

DESIGN AND HARDWAREREQUIRED

 Design and Hardware-

Block Diagram-

1.1 Circuit Diagram of obstacle avoiding Vehicle

The block diagram mainly consist of

1. Arduino Uno. 3.Servo Motor.

2. Motor Drive Control. 4.Ultrasonic Sensor.

5. 9V Battery. 6. TT Motor
–
 1. ARDUINO UNO=

1.2 ARDUINO UNO

Overview

The Arduino Uno is a microcontroller board based on the ATmega328. It has 20 digital
input/output pins (of which 6 can be used as PWM outputs and 6 can be used as analog inputs), a
16 MHz resonator, a USB connection, a power jack, an in-circuit system programming (ICSP)
header, and a reset button. It contains everything needed to support the microcontroller; simply
connect itto a computer with a USB cable or power it with a AC-to-DC
adapter or battery to get started. The Arduino has a large support community and an extensive set
of support libraries and hardwareadd-on.
1. Motor Drive Control

1.3 Motor Drive Control

The L293D is a popular 16- Pin Motor Driver IC. As the name
suggests it is mainly used to drive motors. A single L293D IC is capable of running two DC
motor at the
same time; also the direction of these two motors can be controlled independently. So if you
have motors which has operating voltage less than 36V and operating current less than 600mA,
which are to be controlled by digital circuits like Op-Amp, 555 times, digital gates or even
Micron rollers like Arduino, PIC, ARM etc.. this IC will be the rightchoice for you.

2. Ultrasonic Sensor-

An ultrasonic sensor is an electronic device that

measures the distance of a target object by emitting
 1.4 Ultrasonic Sensor

ultrasonic sound waves, and converts the reflected sound into an

electrical signal. Ultrasonic waves travel faster than the speed of audible sound (i.e. the sound that
humans can hear). Ultrasonic sensors have two main components: the transmitter (which emits the
sound using piezoelectric crystals) and the receiver (which encounters the sound after it has
travelled to and from the target).

In order to calculate the distance between the sensor and the object, the sensor measures the
time it takes between the emission of the sound by the transmitter to its contact with the
receiver. The formula for this calculation is D = ½ T x C (where Dis the distance, T is the time,
and C is the speed of sound ~ 343 meters/second). For example, if a scientist set up an
ultrasonic sensor aimed at a box and it took 0.025 seconds for the sound to bounce back, the
distance between the ultrasonic sensor and thebox would be:

D = 0.5 x 0.025 x 343

or about 4.2875meter

3. Servo Motor-

1.5 Servo Motor

A servo motor is a type of motor that can rotate with great

precision. Normally this type of motor consists of a control circuit that provides feedback on the
current position of the motor shaft, this feedback allows the servo motors to rotate with great
precision. If you want to rotate an object at some specific angles or distance, then you use a servo
motor. It is just made up of a simple motor which runs through a servo mechanism. If motor is
powered by a DC power supply then it is called DC servo motor, and if it is AC-powered motor
then it is called AC servo motor. For this tutorial, we will be discussing only about the DC servo
motor working. Apart from these major classifications, there are many other types of servo
motors based on the type of gear arrangement and operating characteristics. A servo motor usually
comes with a gear arrangement that allows us to get a very high torque servo motor in small and
lightweight packages. Due to these features, they are being used in many applications like toy
car, RC helicopters and planes, Robotics, etc.

Servo motors are rated in kg/cm (kilogram per centimeter) most hobby servo motors are rated at
3kg/cm or 6kg/cm or 12kg/cm. This kg/cm tells you how much weight your servo motor can
lift at a
particular distance. For example: A 6kg/cm Servo motor should be able to lift 6kg if the load is
suspended 1cm away from the motorsshaft, the greater the distance the lesser the weight carrying
capacity. The position of a servo motor is decided by electrical pulse and its circuitry is placed
beside the motor.

4. TT MOTOR-

1.6 TT MOTOR

plastic gearbox motors (also known as 'TT' motors) are an

easy, low-cost way to get your projects moving. This is a TT DC Gearbox Motor with a gear
ratio of 1:48, and it comes with 2 x 200mm wires with breadboard-friendly 0.1" male connectors.
Perfect for plugging into a breadboard or terminalblocks.

6.9V Battery-

The nine-volt battery, or 9-volt battery,

 1.7 BATTERY
is a common size of battery that was introduced for the early transistor radios. It has a
rectangular prism shape with rounded edges and a polarized snap connector at the top. This
type is commonly used in smoke detectors, gasdetectors, clocks, walkie-talkies, electric guitars
and effects units.
 CHAPTER-4

Circuit diagram
Circuit diagram-

2.1 Circuit diagram

 CHAPTER-5

Working Principle
 Working Principle-

The obstacle avoidance robotic vehicles uses ultrasonic

sensors for its movements. A microcontroller of 8051 families is used to achieve the desired
operation. The motors are connected through the motor driver IC to the microcontroller. The
ultrasonic sensor is attached in front of therobot.
Whenever the robot is going on the desired path the ultrasonic sensor transmits the ultrasonic
waves continuously from its sensor head. Whenever an obstacle comes ahead of it the ultrasonic
waves are reflected from an object and that information is passed to the microcontroller. The
microcontroller controls the motors left, right, back, front, based on ultrasonic signals. To control
the speedof each motor pulse width modulation is used (PWM).

The ultrasonic sensor emits the short and high-frequency signal. These propagate in the air at the
velocity of sound. If they hit any object, then they reflect an echo signal to the sensor. The ultrasonic
sensor consists of a multivibrator, fixed to the base. The multivibrator is a combination of a resonator
and a vibrator. The resonator delivers ultrasonic wave generated by the vibration. The ultrasonic
sensor consists of two parts; the emitter which produces a 40 kHz sound wave and the detector
detects a 40 kHz sound wave and sends an electrical signal back to the microcontroller.

The ultrasonic sensor enables the robot to virtually see and recognize an object, avoid obstacles,
measure distance. The operating range of the ultrasonic sensor is 10 cm to 30 cm.
CHAPTER -6

APPLICATIONS
Applications-

1. Obstacle avoiding robots can be used in almost all mobile robot navigationsystems.

2. They can be used for household work like automatic vacuum cleaning.

3. They can also be used in dangerous environments, where human penetration

could be fatal.

4. It is used in vehicle for accident preventation

5. It is used in underwater operation where visibility is very low. 6.We can

used in this system in drones
CHAPTER NO-6

CODEING
 Code

//ARDUINO OBSTACLE AVOIDING CAR//

// Before uploading the code you have to install the necessary library//
//AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library- install //
//NewPing Library https://github.com/livetronic/Arduino-NewPing//
//Servo Library https://github.com/arduino-libraries/Servo.git //
// To Install the libraries go to sketch >> Include Library >> Add .ZIP File
>> Select the Downloaded ZIP files From the Above links //

#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>

#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE
200
#define MAX_SPEED 190 // 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(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3,
MOTOR34_1KHZ); AF_DCMotor
motor4(4, MOTOR34_1KHZ); Servo
myservo;

boolean goesForward=false; int

distance = 100;
int speedSet = 0;
void setup() {
myservo.attach(10);
myservo.write(115);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}

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();
}

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);
motor3.run(RELEASE);
motor4.run(RELEASE);
}
void moveForward() {
if(!goesForward)
{
goesForward=true;
motor1.run(FORWARD
);
motor2.run(FORWARD
);
motor3.run(FORWARD
);
motor4.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);
motor3.setSpeed(speedSet);
motor4.setSpeed(speedSet);
delay(5);
}
}
}

void moveBackward() {
goesForward=false;
motor1.run(BACKWARD)
;
motor2.run(BACKWARD)
;
motor3.run(BACKWARD)
;
motor4.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);
motor3.setSpeed(speedSet);
motor4.setSpeed(speedSet);
delay(5);
}
}

void turnRight() {
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(BACKWARD)
 ;
motor4.run(BACKWARD)
; delay(500);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);

void turnLeft() {
motor1.run(BACKWARD)
;
motor2.run(BACKWARD)
; motor3.run(FORWARD);
motor4.run(FORWARD);
delay(500);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
}
CHAPTER NO-8

COSTING
 List of Components and Expenses

Component Name Rating Quantity Cost

Arduino uno ATmega328P 1 1570

Ultrasonic Module 849

TT Motor 300 RPM 4 800

Motor Driver
1 1317
(L293D)

Breadboard 1 240
Tyres 4 180
Battery 9V 2 80

TOTAL COST 5,036 Rs

 CHAPTER NO-9
CONCLUSION & REFERENCE
 Conclusion-

USRs have a multitude of essential qualities for autonomous underwater

operations, such as efficient locomotion, flexible bodies and the possibility to perform
intervention tasks. These highly versatile robots may be equipped with different modules such as
thrusters or fins, and are applicable for a variety of tasks within several fields of research.

In this paper, we present a guidance and control system to ensure path

following and obstacle avoidance of a USR with thrusters, in addition to a computer vision
algorithm to detect and calculate the position of potential obstacles. Based on preliminary results to
ensure energy efficient motion and high velocity, the USR motion relies on thrusters for forward
propulsion, whereas directional control is achieved through the joints of the body. The proposed
methods are all experimentally verified for the first time, using the thrusted USR Mamba for the
first time. Future work includes extending the proposed guidance and control approach to 3D in
order to be able to investigate path following and obstacle avoidance of USR with thrusters in 3D.
 Reference-
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DC) Ultrasonic Sensor (HC-SR04) DC Servo Motors Power Input Output Power for DC Motors
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on GPS. Khulna University.
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