VISVESVARAYA TECHNOLOGICAL UNIVERSITY

“Jnana Sangama”, Belagavi-18, Karnataka, India.

Synopsis on

“SMART ROVER USING ARDUINO UNO”

Mini-Project Submitted in partial fulfillment of the requirement for the degree of

Bachelor of Engineering
In
Electronics and Telecommunication Engineering
By

Mahnas T 1DS20ET043
Preran K 1DS20ET052
Sameer KS 1DS20ET062
Varun N 1DS20ET078

th
6 Sem B.E
Under the guidance of
SUMATHI S
Assistant Professor

Department of Electronics and Telecommunication Engineering

DAYANANDA SAGAR COLLEGE OF ENGINEERING BENGALURU -560078

2022-23
Smart Rover Using Arduino Uno 2022-23

ABSTRACT

Trajectory planning is one of the most important pivotal points in pick and place tasks done

by robotic manipulators. In this work, we have presented a robot, which is compact,

autonomous, and fully functional. This robot or a smart car is built to sense any obstacle in

its path, to avoid it and resume its running involving the pre-computation of an obstacle

free path. Ultrasonic sensors were adapted to implement a real-time obstacle avoidance

system for wheeled robots, so that the robot can continually detect surroundings, avoid

obstacles, and move toward the target area.

This model has tremendous applications in vacuum cleaners, avoiding concealed paths,

parking systems, assembling automobiles and in chemical industries, in scientific

exploration, emergency rescue and in other isolated environments. We use an Arduino

UNO with a Motor Shield along with Stepper Motors to make the car move, and for sensing

we incorporate an Ultrasonic Sensor which accurately and efficiently detects any obstacles

in the smart car’s path. The Arduino is coded such that the smart car moves backward

when an obstacle arises in front of it with a maximum limit of 50cms in ideal testing

conditions.

Throughout the construction of this model, we educated ourselves to the Arduino coding

language, the Motor Shield functionality, and comprehensively, with the working of an

ultrasonic sensor and its features. In this project, we aim to construct a model of a smart

car that is beneficial to the quotidian problems of the present generation.

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Smart Rover Using Arduino Uno 2022-23

KEYWORDS
1. Wheel Robot
2. Arduino
3. Tracking
4. Obstacle
5. Reliability Avoidance

INTRODUCTION
PROBLEMS ADDRESSED

 Need for a robot that can perform trajectory planning effectively.

 Need for a system which can detect obstacles and move in a pre-computed path.
 Need for the detection of obstacles that appear suddenly.
 Need to minimize human risk regarding the upper limit of a human eye.
 Need to assist the physically handicapped by incorporating cutting edge technologies in
wheelchairs.
 Need to address the need for upgrade from inaccurate sensors like CCD cameras, CMOS
image sensors, laser light pens, global positioning systems, and so on …
 Need for advanced mapping devices during exploration of unknown environments such
as interplanetary exploration.

SOLUTIONS OFFERED

 Robot detects obstacles and avoids them in the trajectory.

 Robot uses an Ultrasonic Sensor which can detect obstacles which may appear
suddenly, for instance, an animal in front of a wheelchair.
 Robot can operate in the environment without much interference.
 Robot can detect very minute details, which the human eye may neglect.
 Robot can map various topographies and terrains.

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Smart Rover Using Arduino Uno 2022-23

LITERATURE SURVEY

Line follower and obstacle avoidance bot using Arduino has been designed and developed by
Aamir attar, Aadilansari, Abhishekdesai, Shahid khan, Dipashrisonawale in [1].
This paper is designed to build a line follower and obstacle avoidance bot using IR sensor and
ultrasonic sensor. The IR sensor is meant to trace a particular line and ultrasonic sensors are
meant to detect obstacles which it encounters. ROBOT has sufficient intelligence to cover the
maximum area of space provided. It will move in a particular direction specified by the user and
avoids the obstacle which is coming in its path. Autonomous Intelligent Robots are robots that can
perform desired tasks in unstructured environments without continuous human guidance. The
path can be visible like a black line on the white surface (or vice-verse). The base of the robot is
Arduino UNO R3 which is a microcontroller board based on the ATmega328 (datasheet).

Obstacle-avoiding robot with Infrared (IR) and Passive Infrared (PIR) motion Sensors has
been designed and developed by Aniket D. Adhvaryu et al in [2].

This system is proposed to develop a robot platform and was not designed for a specific task but
is used 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.

Obstacle Avoidance Robotic Vehicle Using Ultrasonic Sensor, Android and Bluetooth for
Obstacle Detection has been designed and developed by Vaghela Ankit, Patel Jigar and Vaghela
Savan in [3].

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Smart Rover Using Arduino Uno 2022-23

This project 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
have overtaken the sophistication of technologies like programmable glove, static cameras etc.,
making them obsolete. Although recent research 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, tabletop screens etc. in a
collaborative manner.

Obstacle Avoidance Robot has been designed and developed by Paul Kinsky, Quan Zhou in
[4].

This paper presents the 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.

Obstacle avoidance car has been designed and developed by FaizaTabassum, SusmitaLopa,
Muhammad MasudTarek& Dr. Bilkis Jamal Ferdosi in [5].

The project is design to build an obstacle avoidance robotic vehicle using ultrasonic sensors for its
movement. A microcontroller (ATmega328) is used to achieve the desired operation. A robot is a
machine that can perform task automatically or with guidance. The project proposes robotic
vehicle that has an intelligence built in it such that it directs itself whenever an obstacle comes in
its path. This robotic vehicle is built, using a micro-controller of ATmega328 family. An ultrasonic
sensor is used to detect any obstacle ahead of it and sends a command to the micro-controller.
Depending

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Smart Rover Using Arduino Uno 2022-23

on the input signal received, the micro-controller redirects the robot to move in an alternate
direction by actuating the motors which are interfaced to it through a motor driver. Some of the
project is built with the IR sensors has its own application so in our project those application is not
compactable, so we are using ultrasonic sensor.

OBJECTIVE

 The robot car should have the capacity to detect obstacles in its path based on a predetermined
threshold distance.
 After detection of an obstacle, the robot should be able to change its direction to a relatively
open path by making an autonomous decision.
 The robot car should not require any external control during its operation.
 The robot car should be able to measure distance between itself and an obstacle in real time.
 The robot car should be able to operate effectively in an environment which is unknown to it.

METHODOLOGY

Fig 1: Block diagram showing the Hardware Implementation of the project

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Department of Electronics and Telecommunication Engineering, DSCE
Smart Rover Using Arduino Uno 2022-23
The basic block diagram of the obstacle avoiding car is shown in above figure. Mainly this block
diagram consists of the following essential blocks.
1) Arduino uno –
Arduino Uno is an AT mega 328p Microcontroller based prototyping board. It is an open-source
electronic prototyping platform that can be used with various sensors and actuators. It is used for
controlling all the operation and assign task to each device.
2) Ultrasonic sensor –
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.
3) Motor driver(L293D) –
Motor drivers take a low current control signal but provide a higher current signal, thus acting as a
current amplifier. The higher current signal drives the motors. L293D is a motor driver that allows
direct current (DC) motor to drive on either direction. It contains two inbuilt H-bridge driver
circuits. To rotate the motor in clockwise or anticlockwise direction, voltage need to change its
direction. H-bridge is a circuit that allows voltage to be flown in either direction. Hence H-bridge
IC are ideal for driving a DC motor.
4) DC Motors –
The obstacle detection and avoiding robot uses two 200rpm and 12V DC geared motors. The
motor used has a 6mm shaft diameter with internal holes. The internal holes are for easy
mounting of the wheels by using screws. It is an easy to use lowcost motor for robotics
application.
5) Servo Motors –
A servo motor consists of a motor that uses servo mechanism. The two types of servo motors are
the DC servo motors (DC powered) and the AC servo motor (AC powered) where the difference
between them is the input power. A very high torque can be obtained from a small and
lightweight servo motor which allows these servo motors to be used in applications like robots,
toy cars, etc. The main reason why a servo motor is used is because of its high angle precision, i.e.,
after rotating, it will stop and wait for the next instruction to happen unlike a normal electric
motor which rotates if it is being supplied power and stops rotating when power supply is turned
off.

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Department of Electronics and Telecommunication Engineering, DSCE
Smart Rover Using Arduino Uno 2022-23
Working Principle

Fig 2: Working Mechanism

The obstacle avoidance robotic vehicle uses ultrasonic sensors for its movements. Arduino is used
to achieve the desired operation. The motors are connected through motor driver IC to Arduino.
The ultrasonic sensor is attached in front of the robot.
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 Arduino. The Arduino
controls the motors left, right, back, front, based on ultrasonic signals. To control the speed of
each motor pulse width modulation is used (PWM).
When ultrasonic sensor detects the object which is kept inside the path it will send the signal
toward the Arduino uno and according to that it will rotate the motor Motor3 & Motor4 in
forward direction and rotate the motor Motor1 & Motor2 in reverse direction such way that the
car gets moving in left direction.
Similarly in every time whenever an obstacle in found to be in path of car it will detect it and
rotate the car in left direction to avoid the obstacle.

SOFTWARE VERSION
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Smart Rover Using Arduino Uno 2022-23

The software version used is Arduino Integrated Development Environment (IDE).

Features:

 The microcontroller board functions can be controlled by sending instructions to the

microcontroller using the Arduino Integrated Development Environment.
 An external piece of hardware for loading code into the board is not requires unlike in
some other circuit boards. Just a USB cable is required.
 It is simple to learn the Arduino programming language as it is a simplified version of C++.
 Arduino allows for a standard form factor, which breaks the functions of the board to a
more accessible package.

Fig 3: Arduino Integrated Development Environment (IDE)

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Department of Electronics and Telecommunication Engineering, DSCE
Smart Rover Using Arduino Uno 2022-23
PROJECT OUTCOMES
1. Background: Provide some context for the project, such as the significance of smart rovers
in various industries, the basic features of Arduino Uno, and the specific components used
in the project.
2. Design and Implementation: Discuss the process of designing and implementing the smart
rover using Arduino Uno, including the various steps involved in assembling and
programming the device.
3. Hardware: Describe the hardware components used in the project, such as the motors,
wheels, sensors, and other electronic devices. Explain how these components were
integrated into the overall design of the smart rover.
4. Software: Discuss the software components used in the project, including the
programming language and IDE used to write the code, as well as the specific algorithms
and control systems used to operate the smart rover.
5. Testing and Evaluation: Describe the testing and evaluation process used to assess the
performance of the smart rover, including the specific metrics used to measure its speed,
accuracy, and functionality.
6. Results and Discussion: Present the results of the project, including any data, graphs, or
tables that illustrate the performance of the smart rover. Discuss the strengths and
weaknesses of the device, as well as any potential areas for improvement or further
development.
7. Conclusion: Summarize the main findings of the project, including the overall success of
the smart rover in meeting its intended goals and objectives. Provide some final thoughts
on the project, including any future directions or potential applications for the device.

APPLICATIONS

This device has application in surveying different landscapes and mapping them. It can also be
used in commercial devices like
 Automated lawn mover
 Smart room cleaner etc.
 Obstacle avoiding robots can be used in almost all mobile robot navigation systems.
 They can also be used in dangerous environments, where human penetration could be
fatal.
 Unmanned vehicle driving
 Mining Vehicle that uses Obstacle Detection

REFERENCES

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Smart Rover Using Arduino Uno 2022-23
[1] Amir attar, Aadilansari, Abhishek Desai, shahid khan, dip Ashrisonawale “line follower and
obstacle avoidance bot using Arduino” International Journal of Advanced Computational
Engineering and Networking, vol. 2, pp. 740-741, August 1987.
[2] Aniket D. Adhvaryu et al “Obstacle-avoiding robot with IR and PIR motion Sensors” IOP
Conference Series: Materials Science and Engineering, vol. A247, pp. 529-551, April 2005.
[3] Vaghela Ankit1, Patel Jigar2, Vaghela Savan3 “Obstacle Avoidance Robotic Vehicle Using
Ultrasonic Sensor, Android and Bluetooth for Obstacle Detection” International Research Journal
of Engineering and Technology (IRJET), vol. A247, pp. 29-32, 2005.
[4] Paul Kinsky,Quan Zhou “Obstacle Avoidance Robot” Worcester polytechnic institute.
[5] FaizaTabassum, SusmitaLopa, Muhammad MasudTarek& Dr. Bilkis Jamal Ferdosi “obstacle
avoidance car “Global Journal of Researches in Engineering: HRobotics & Nano-Tech.

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Department of Electronics and Telecommunication Engineering, DSCE