International Journal of Advances in Engineering and Management (IJAEM)

Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

Development of Arduino-Powered Robotic Vehicle with

Automatic Obstacle Detection and Avoidance
Subit Sharma

-------------------------------------------------------------------------------------------------------------------------------------
Date of Submission: 25-12-2020 Date of Acceptance: 03-01-2021
--------------------------------------------------------------------------------------------------------------------------------------

ABSTRACT: Detection and avoidance of applications to protect, identify, control, and image
obstacles in real-time have come out to be in industrial settings. With this technological
significant issues in designing robotic cars. This advancement, hundreds of sensors are out there,
study promotes the design and deployment of an including obstacle detectors, pressure sensors, heat
automated vehicle in terms of software, hardware, detectors, and moving objects detectors. Earlier,
and communication settings with real-time sensors had limited use with lighting only. Today,
detection and avoidance of obstacles. The three they are used in almost all aspects of daily life. Fast
major technologies used in the deployment of this developments have become the new normal,
system are the Android application, the Arduino especially in the fields of electronics and
platform, and Bluetooth. This paper presents the technology. A new application or invention can
deployment of robotic cars with sensor easily be made possible in this regard.
programming on the platform. The automatic Nowadays, AI algorithms are used to
device needs the intervention of an Android device develop robotic systems, and the field of robotics is
for development. Arduino Uno serves as no exception. Perception is the most vital aspect of
intelligence for the vehicle. There are many robotics. Behind any automated design, there is
hardware aspects of the robot, including the PIR always a perception of an environment. For
sensor, Bluetooth module, buzzers, and ultrasonic example, a robot can detect explosives or any
sensor. The software part of this machine also uses terrorist activity with the use of sensors. For doing
a mobile application. The user can select the mode this, a robot needs to perceive changes like heat in
or direction by using a mobile application and the environment, interpret the same, and make
control the movement of the robotic vehicle. The decisions accordingly.
user uses his/her smartphone to control the This article focuses on the automated and
activities of the vehicle or simply turn on the remote-controlled robotic car, which uses sensors
automatic mode to allow the car to drive to detect and avoid obstacles. Bluetooth is the most
automatically. Hence, the robot does not only reliable and widely-used technology in Android
detect human obstacles, but it can also avoid them. devices to build connections. This remote-
This article is aimed to explain how live detectable controlled car will also use Bluetooth for
sensors can alert military staff and civilians against connectivity. Arduino Uno is another technology to
any terrorist attacks. process input data and help the robot perform
Keywords – Arduino platform, Bluetooth, actions based on this incoming data. Automatic and
Obstacle Detection and Avoidance, PIR sensor, Manual are the two significant modes that Android
ultrasonic sensor, Android application applications on an Android phone will use to
control the robotic vehicle. The user will be able to
I. INTRODUCTION select the actions on the screen with buttons and a
With the onset of technological advances menu. The user will be able to use these buttons to
over the past decade, manufacturers started making move the car left, right, back, and forward, stop,
devices with sensors to make lives easier in many and switch to the automatic mode. The moment the
aspects. Generally speaking, sensors are electronic user switches to the automatic mode, the control
devices to turn the forms of energy into electrical goes to the robot, and it automatically makes its
energy. Several electronic devices are connected in way while avoiding obstacles. This Arduino-based
a physical environment through sensors. The Robotic Car detects living objects and alerts with
domain can be electronic devices like tablets, the Real-Time Obstacle Alert feature. It perceives
laptops, smartwatches, humanoids, and the barrier and stops and then makes way without
smartphones. These devices are used in different
DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 33
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

collision. Meanwhile, it uses a heat sensor and live sensors like radar, Lidar, infrared, ultrasonic, and
detection to blow the Red LED to alert. GPS.
FaizaTabassum et al. [3] consider obstacle
In this study, a fresh design of a robotic avoidance and detection as the key challenges in
vehicle is studied when it is connected with some designing mobile robots. This technology is also
sensors for obstacle detection and avoidance. It is essential as it provides the senses these robots need
probably the first time a study is being made on to traverse in unknown environments without any
Android and Arduino Uno to investigate how an damage. They select the Arduino board as the
autonomous vehicle avoids and detects obstacles. microcontroller and Arduino software as the
This research is categorized in the programmer.
following sections – Section 2 covers the works TanmayiSamant et al. [4] combined
related to this study. Section 3 explains how the remote access and automated safety with a cost-
robotic vehicle and its architecture work. Section 4 effective alternative in designing a multi-featured
explores the technical specifications of the car and Robot Vehicle with Arduino technology. These
its components. Section 5 covers the vehicle‟s students used this technology in a car without
design and its implementation. Finally, Section 6 having added weight and components. This project
concludes the research. focuses mainly on the safety and luxury of the
driver. This car has all the safety features to prevent
II. SIMILAR STUDIES a collision on a daily basis.
In this section, here is the breakdown of Siddhi Patil et al. [5] used an IR sensor for
some of the working principles and methods used detecting and fleeing through hurdles in a robotic
to conduct studies related to Obstacle Avoidance car. This project uses a smartphone to bridge this
and Detection by an Autonomous, Four-Wheeled project's connection, real-time detection, and
Electric Vehicle. avoidance of obstacles is a significant challenge.
Aye Min et al. [1] researches a robotic The robot vehicle can move by mobile, remote
Arduino-powered vehicle which uses Bluetooth controller, and automatically. It collects the data to
and ultrasonic sensors to avoid obstacles. It move back and front from its sensors. It makes its
includes an ultrasonic sensor, an Arduino Nano path instantly towards its destination.
board, two DC motors, one servo motor, Bluetooth,
and other technologies. It uses the obstacle- III. ROBOTIC VEHICLE AND ITS
avoidance mechanism to avoid crashes. The ARCHITECTURE
ultrasonic sensor transfers the ultrasonic waves Fig.1 shows the overall system
from its head. architecture of the robotic vehicle developed with
Sushmita M. Rathod et al. [2] uses the all the sensors.
sensor-based system for obstacle detection on a There are two modes of the robotic vehicle
four-wheeled electric robot. Autonomous vehicles displayed in this paper – the Automatic mode and
have become the hottest topic online as vehicles User Control mode. The Bluetooth technology acts
without accelerators, steering wheels, and state-of- as a bridge between Android devices and the
the-art autopilot. She studied an autonomous motorised vehicle for communication.
vehicle that can recognize its environment and
choose the right path on its own. It uses different

DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 34
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

IV. TECHNICAL SPECIFICATIONS 4.3. Buzzer

4.1. Arduino Uno This device can produce several sound
Arduino Uno is powered by an waves as per the voltage. It is very light, easily
ATmega328 microprocessor with 14 pins to work produced, and cost-effective. Hence, it can be used
as a brain for the robot. The Arduino UNO (Fig. 2) in a large area. The buzzer is mainly used to warn
is the most widely-used model of Arduino card. the authorities about the concerned event. After
One can program it effortlessly with Arduino receiving several incoming messages, it triggers
libraries. Easy programming is the best part of any sound accordingly. First of all, it transforms the
microprocessor. Integrated Development incoming DC voltage from the input port into an
Environment (IDE) is where Arduino Uno is amplified oscillation signal. By applying a high and
programmed. Embedded C language is the discrete voltage, it leads to mechanical contraction
programming language that is selected. It designs and expansion. Due to this phenomenon, the metal
systems and robots using sensory signals which plate inside it bends in the reverse direction. In Fig.
affect the environment. Actions like light and 4, the metal plate is twisted regularly in the next
sound are specific to the project output. direction and the iceberg which is shrunk generates
sound waves in the air.

4.2. Hc-06 Bluetooth Module

It connects devices within a short range of
around 10-20 meters and communicates via
USART Serial Communication to Arduino. This 4.4. Arduino Motor Shield
Bluetooth module (Fig. 3) can respond only to Fig.5 displays a motor driver card which
input requests, instead sending communication has used L298. The Arduino motor shield provides
requests to the next module. There are four pins in control over direction and speed to DC motor and
this Bluetooth module – GND, VCC, Tx, and Rx. helps in measuring electric current.

Arduino supplies GND and VCC for 4.5. DC Motor

Bluetooth module, while Tx pin is connected to the Direct Current motor or DC motor, as the
Rx so the Bluetooth module can detect the name suggests, uses direct current to transform
commands from Arduino. Bluetooth messages electricity into mechanical energy. This electric
should be plugged in the Tx of the Rx pin of the machine works according to this principle – A
Arduino. An Android device can be connected to it conductor carrying electric current is open to
through a password. humidity in a magnetic field.
DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 35
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

The DC Motor (Fig. 6) has six main measurement is quite accurate, i.e. ranging from 2
components – magnets, coils, brush, rotors, stator, to 400 cm. The frequencies of ultrasonic sound
and DC source. The purpose of the DC motor in waves are ranging from 20 kHz to 500 kHz.
this research is turning the wheels. The magnetic Ultrasonic sensors, as the name suggests, release
field consists of the armature rotated with direct ultrasonic sound waves and calculate the time taken
current and generated by the coils to generate the to approach the obstacles to determine the distance.
mechanical force. (Fig. 8)

The ultrasonic sensors have sensing range

of around 30 meters in ideal conditions. There are
two transducers in ultrasonic sensors – ultrasonic
4.6. PIR Sensor microphone and ultrasonic speaker. The electronic
Passive Infrared Sensor or PIR sensor is
circuit measures the time taken in the sound wave‟s
able to detect human body temperature. As the broadcast from the loudspeaker, the sound wave
name suggests, Passive Infrared Sensor does not
coming from the obstacle, reflection of
release any form of energy or heat. Instead, it microphone, and the distance from one obstacle to
detects a person using Infrared Rays. It is also a
another. This time is divided by calculating the
low-cost component and it consumes less power.
ultrasonic sensor with the speed of sound. (Fig. 9)
There are two pin slots in the PIR sensor
(Fig. 7) and each slot is sensitive to infrared rays.
Hence, it determines the visual distance. Both slots
in this sensor are IR sensitive and all objects emit
the same infrared rays in the room when nothing is
detected. Living objects spread the heat and can
easily enter its field of view. It leads to a change in
temperature. The sensor detects change in
temperature when any object emits heat. This
change helps the sensor to perceive the movement.

4.8. Arduino IDE

In this software development platform,
one can write codes, compile them, use Arduino
kits, and load the codes compiled to the Arduino
Uno, which is linked to the USB port of the
computer. This platform uses the C/C++
programming language. There are two basic
functions for C/C++ languages –
● setup: it starts at the program‟s beginning.
● loop: it works in a loop until the power of the
card is turned off.
4.7. HC-SR04 Ultrasonic Sensor
This sensor is powered by Sound
Navigation and Variable (Sonar) to determine the
distance between the vehicle and the object. The
DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 36
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

4.9. Android Platform

Based on Linux OS, the Android platform is
developed by Open Handset Alliance and Google.
It is an open-source and low-cost operating system
mainly used for smartphones and tablets. There are
four layers of Android operating system –
1. Linux Kernel
2. Android Runtime and Libraries
3. App Framework
4. Applications

The first layer of Android is the Kernel

used for process management, networking, and
memory management. Android Runtime and
Libraries is the second layer, including all libraries
written in C/C++ on the Android OS. This layer is
involved through Java and operates with a virtual
machine named Dalvik. It also serves as a mediator
between the operating system and the application.
Application framework is the third layer to
determine an application structure for Android.
Figure 10 - Robotic car upper view
Application is the final layer to interact between
apps written by other users. The app can control the
4.1. Automatic and User Control Mode
machine via the Bluetooth connectivity.
Once the user downloads and installs the
Arduino Bluetooth Controller app on their Android
V. VEHICLE’S DESIGN AND device, they need to turn Bluetooth on. The user
IMPLEMENTATION has to enter password „1234‟ and connect
There are eight components of a robotic Bluetooth Module (HC-06). After selecting HC-06,
vehicle – HC-06 Bluetooth module, Arduino Uno, some selection will be seen.
DC Motor, Arduino motor shield, PIR Sensor,
Ultrasonic HC-SR04 sensor, 9V battery, and
buzzer (Fig. 10).
In terms of implementation, the user first
has to go to Google Play store and download
“Arduino Bluetooth Controller”. Turn on the
Bluetooth connection on Android phone and
connect the application to Bluetooth HC-06 module
with a password like “1234”. The user needs to
assign values to the specific keys. Robots can start
sending input values after assignment.
The Bluetooth module sends the data from
the Android app to Arduino Uno, which manages
input signals and decides the right signals to the
motor driver. Hence, the robot follows the
command and moves according to the incoming Figure 11 – Buttons
signals.
The user has basic controls of the robot In Figure 11, you can see how buttons can
like rotate right/left, back/forward, stop, etc. from be changed on Android applications. After clicking
their device. The user can choose autopilot mode the symbol, the user is able to assign buttons with
for the robot and let it drive automatically. The the value they want. By pressing “Start”, the
vehicle can detect the obstacles and avoid them. program will start. Now the user can hit the
The red LED will light up when it detects an “Select” button to choose the option. Figure 12
obstacle and triggers a buzzer. It can calculate the shows the values and options assigned.
shortest distance when the obstacle is an These options facilitate basic robotic
unmovable object. It stops when it reaches the cliff vehicle movements. The robot controls itself when
(Fig. 10). the user chooses the automatic mode button.

DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 37
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

Hence, the robot will alert when it detects a living stopped and the user leaves the application. Along
object and escapes from the obstacle. with it, the user can set the buttons on their own by
The user can control the basic robotic giving the desired value. The user can track the
movement in the manual mode with the path manually or let the robot do this in automatic
application. Bluetooth technology is used to mode. All in all, the robotic vehicle can move as
forward the user inputs to the robot. The device per the user‟s command while avoiding obstacles in
will send the input to the robot and it will process real-time or it can move until the obstacle is
the information in the Arduino Uno processor and detected with autonomous mode.
let them move as per the input order. Forward,
backward, left, and right are the basic movements VI. CONCLUSION
of the robot. The robot can be stopped anytime Many papers have addressed the robotic
along with it. car powered by Android platform, Raspberry pi
and Arduino Uno. However, scientists are yet to
study the use of Android and Arduino Uno for real-
time obstacle avoidance and detection of the
autonomous and remote-controlled car. This article
has been aimed to explore the use of an Android
app to detect potential terror attacks in sensitive
areas like the military field. The basic robotic
movements are defined by getting information
from the application. The HC-06 Bluetooth module
bridges the communication gap between the
application and the robot. The HC-SR04 ultrasonic
sensor prevents collision for the robot. The robot
escapes the crash with this sensor. The robot
perceives that it has reached the cliff and avoids
falling. The ultrasonic sensor detects the heat
radiated by the human obstacle by using a PIR
sensor. When the robot detects a human obstacle, it
triggers the audible alarm. An ultrasonic sensor is
important to detect the obstacle‟s distance in this
research. It helps detect simultaneous human
obstacles and avoid inanimate objects. Hence, the
commissioning of this robot can control tasks on
the go and improve effective operation. This study
Figure 12 – User-specified Buttons uses smarter sensors to further improve the results.
The Bluetooth can be replaced by the Wi-Fi
The user can turn on the automatic mode module to build connection. It is because the Wi-Fi
to allow the robotic vehicle to move on its own and signal is stable and fast even in wider areas.
the user can see its movement in the app interface.
The robot will detect the obstacles with ultrasonic REFERENCES
sensors at a distance of only 25 cm. The robot stops [1]. https://www.hu.edu.mm/wp-
automatically when any hurdle comes in its way content/uploads/2020/10/10_HURJ_Phy_01
and reverses 2 cm. The robot will activate the PIR _U-Aye-Min.pdf
sensor and detect whether there is a living or non- [2]. S. M. Rathod and S. K. Apte, "Obstacle
living obstacle. It calculates the heat that the Detection Using Sensor Based System For
obstacle releases. The object radiates heat and the An Four Wheeled Autonomous Electric
robot observes that it is alive when it moves. It will Robot," 2019 International Conference on
activate the buzzer and trigger an audible alarm Communication and Electronics Systems
when the obstacle is a living being. (ICCES), Coimbatore, India, 2019, pp. 493-
The robot will escape the obstacle and 497,doi:10.1109/ICCES45898.2019.900206
keep going on its own way. If it detects an 5.Retrievedfromhttps://ieeexplore.ieee.org/d
unmovable object as an obstacle, it calculates the ocument/9002065
distance away to the farthest point from the [3]. Tabassum, F., Lopa, S., Tarek, M. M.,
obstacle. It keeps going to avoid obstacles in that &Ferdosi, B. J., Dr. (2017). Obstacle
way. The process keeps up until the robot is Avoiding Robot. Obstacle Avoiding

DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 38
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 12, pp: 33-39 www.ijaem.net ISSN: 2395-5252

Robot, 17(1), 1.0st ser. Retrieved from

https://globaljournals.org/GJRE_Volume17/
2-Obstacle-Avoiding-Robot.pdf.
[4]. Samant, T., Rana, J., Rathore, P. S., &
Sharma, R. (2018). Multi Featured Robot
Car with Arduino. Multi Featured Robot Car
with Arduino, 7(1), 1-6. Retrieved from
https:// www.ijirset.com/ upload/2018/
january/81_Multi.pdf
[5]. Patil, S., Ovhal, P., Jigale, S., &Aneesh, R.,
Prof. (2020). Robotic Car for Avoidance and
Detection of obstacles using IR
Sensor. Robotic Car for Avoidance and
Detection of Obstacles Using IR
Sensor, 7(4), 1-5. Retrieved from https://
www.irjet.net/archives/V7/i4/IRJET-
V7I4163.pdf

DOI: 10.35629/5252-02123339 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 39