VALLURUPALLI NAGESHWARA RAO VIGNANA

JYOTHI INSTITUTE OF ENGINEERING AND

TECHNOLOGY
AN AUTONOMOUS INSTITUTE
(Approved by AICTE-New Delhi, Govt. of T.S. and Affiliated to JNTU-H) Accredited
by NBA and NAAC with “A++” Grade
Recognized as “College with Potential for Excellence” by UGC
Vignana Jyothi Nagar, Bachupally, Nizampet(S.O.), Hyderabad – 500 090 Telangana,
India

ELECTRONICS DEVICES & CIRCUITS

SUBJECT CODE : 22PC1EC101

DEPARTMENT OF
ELECTRONICS AND COMMUNICATION
AND ENGINEERING
VALLURUPALLI NAGESWARA RAO VIGNANA JYOTHI
INSTITUTE OF ENGINEERING & TECHNOLOGY
 COURSE BASED PROJECT REPORT

TOPIC : OBSTACLE AVOIDING ROBOT

ROLL NO: NAME :

22071A0437
PALLAVI SHARMA

22071A0438 SRINIDHI

22071A0439 P.KRUTHIKA REDDY

22071A0440 PAVAN KUMAR

Signature of the Faculty :

date :
ABSTRACT :
The increasing demand for autonomous systems has led to the development of robots
capable of navigating and interacting with their environment. The "Obstacle Avoiding
Robot" presented in this project aims to demonstrate an autonomous mobile robot's
ability to navigate through a cluttered environment while avoiding obstacles in its
path. The robot is designed to utilize various sensors and algorithms to perceive its
surroundings, make
real-time decisions, and maneuver around obstacles without human intervention.

The project involves the integration of multiple components, including infrared or

ultrasonic sensors for distance measurement, a microcontroller for processing sensor
data and controlling the robot's motion, and a chassis with motorized wheels for
locomotion. The robot's behavior is governed by an obstacle avoidance algorithm that
uses the sensor data to detect obstacles and calculate appropriate paths to avoid
collisions.

The implementation of the obstacle avoidance algorithm includes stages such as data
acquisition, obstacle detection, path planning, and motor control. The robot's sensors
continuously gather distance information from its surroundings, allowing it to build a
representation of its environment. Based on this data, the robot identifies obstacles
and calculates optimal trajectories to avoid collisions. The motor control system then
executesthese trajectories, enabling the robot to navigate autonomously through the
environment.

The success of the project is evaluated through physical demonstrations and tests in
controlled environments. The robot's ability to avoid obstacles and navigate without
external intervention showcases its potential for various applications, including
warehouse automation, environmental monitoring, and surveillance. Furthermore, this
project contributes to the advancement of robotics by providing insights into sensor
integration, algorithm development, and autonomous navigation techniques.

In conclusion, the "Obstacle Avoiding Robot" project exemplifies the fusion of

sensors, algorithms, and robotics to create an autonomous system capable of
intelligently navigating through complex environments while avoiding obstacles. The
project's outcomes contributeto the field of robotics and autonomous systems, paving
the way for further research and applications in real-world scenarios.
COMPONENTS USED :
1) Arduino Uno
2) Motor Driver Shield
3) Wheels (4x)
4) TT Gear Motor (4x)
5) Servo Motor
6) Ultrasonic Sensor
7) 18650 Li-on Battery (2x)
8) 18650 Battery Holder
9) Male and Female Jumper wire
10) Acrylic Sheet
11)DC Power Switch -

1. Arduino Uno:
The Arduino Uno serves as the main microcontroller unit for the robot. It
receives data from sensors, processes it, and controls the robot's motors and
servo motor based on the programmed logic. It interfaces with various sensors
and motor drivers to make real-time decisions about obstacle avoidance and
robot movement.

2. Motor Driver Shield:

The motor driver shield connects to the Arduino Uno and provides the
necessary interface to control the motor speed and direction. It enables precise
control over the robot's movements by driving the DC motors responsible for the
wheels' rotation.
3. Wheels (4x):

The wheels are mounted on the robot's chassis and are attached to the DC
motors. These wheels enable the robot's movement, allowing it to traverse its
environment.

4. TT Gear Motor (4x):

The TT gear motors are attached to the wheels and are responsible for
propelling the robot forward, backward, and turning. The motor speed and
direction are controlled using the motor driver shield.
5. Servo Motor:

The servo motor is commonly used for steering or rotating a sensor, like an
ultrasonic sensor in this case. It allows the ultrasonic sensor to sweep across a
certain angle to detect obstacles and calculate distances.

6. Ultrasonic Sensor:
The ultrasonic sensor emits ultrasonic pulses and measures the time it takes
for the pulses to bounce back after hitting an obstacle. This data is used to
calculate the distance between the sensor and the obstacle. This information is
crucial for the obstacle avoidance algorithm to make decisions about the robot's
path.

7. 18650 Li-ion Battery (2x):

These batteries provide the power source for the robot's components, including
the Arduino Uno, motors, and sensors. They supply the necessary voltage to
ensure the robot's proper
functioning and movement.
8. 18650 Battery Holder:
The battery holder securely holds the Li-ion batteries in place, providing a convenient
and organized way to power the robot.

9. Male and Female Jumper Wires:

Jumper wires are used to establish connections between the various
components on the robot. They ensure proper signal and power transmission
between the Arduino, sensors, motors, and other components.

10. Acrylic Sheet:

The acrylic sheet serves as the robot's chassis, providing a sturdy structure to mount
all the components. It also helps protect the internal components and gives the robot a
professional appearance.

Collectively, these components come together to create an obstacle-avoiding

robot that can sense its surroundings using the ultrasonic sensor, process that data
using the Arduino Uno, and navigate through its environment by controlling the
wheels and motors using the motordriver shield. The robot's ability to avoid
obstacles is achieved by the interplay of these components, showcasing the
principles of robotics and automation.
CIRCUIT DIAGRAM :
PROCEDURE :
1. Assemble the Robot:
Assemble the chassis and attach the wheels and motors. Secure the
microcontroller board and motor driver module onto the chassis.
Mount the ultrasonic sensors on the front of the robot, facing forward. Ensure
they are stable and at an appropriate angle for obstacle detection.
Connect the ultrasonic sensors to the appropriate pins on the microcontroller
board. Connect the motor driver module to the motors and the microcontroller
board. Connect the battery to power the robot.

2. Sensor Calibration:

Calibrate the obstacle sensors to ensure accurate distance measurements. This

may involve adjusting sensor parameters or using calibration routines provided
by the sensor manufacturer.
3. Programming:
Write the robot's control software. This involves coding the microcontroller to
read sensor data, make decisions, and control the motors.
4. Obstacle Avoidance Logic:
Implement the logic for obstacle avoidance based on sensor readings.
You can use various algorithms such as:
"Stop and Turn": Stop when an obstacle is detected, then turn in a specific
direction before resuming movement.
"Obstacle Mapping": Use multiple sensors to create a map of the environment
and plan a path around obstacles.
"Wall Following": Maintain a constant distance from a wall or obstacle while
navigating.
We are using the stop and turn algorithm for this detecting robot.
5. Test and Refine:
Test the robot in different environments to fine-tune its obstacle
detection and avoidance behavior. Make adjustments to the
programming and sensor placementas needed.
6. Documentation:
Document your robot's design, components, wiring, and
programming logic. Thisdocumentation will be valuable for
troubleshooting, future modifications, and sharing your project
with others.
 OUTPUT :
●Forward Movement: When no obstacles are detected within a safe
distance, the robot moves forward.
●Backward Movement: If an obstacle is detected within a certain
range, the robot moves backward to create distance from the obstacle.
●Turning: The robot may initiate a turn to the left or right to navigate
around the obstacle, avoiding a potential collision.
● The robot might use the ultrasonic sensor outputs to adjust its path
in real
time, ensuring it navigates around obstacles while reaching its intended
destination.

CONCLUSION :
In conclusion, an obstacle-avoiding robot utilizing ultrasonic sensors
presents a promising solution for navigating complex environments with
agility and safety. By leveraging the principles of sound wave reflection
and time-of-flight measurements, these robots can intelligently detect
obstacles, calculate distances, and execute precise maneuvers to circumvent
obstructions.
Few key points of obstacle avoiding robots are :

● Intelligent Navigation: Ultrasonic sensors empower robots with

the ability to make intelligent decisions based on real-time obstacle
detection data. This enables the robot to navigate autonomously
and efficiently in both static and dynamic environments.

●Collision Prevention: The robot's prompt and accurate obstacle

detection ensures collisions are minimized or entirely avoided,
safeguarding the robot itself, nearby objects, and potentially even
human operators.
● User-Friendly Interaction: Ultrasonic sensors provide tangible
data that can be easily translated into user-friendly information,
enhancing
human-robot interaction and enabling intuitive control.

●Versatility: The robot's ability to operate across diverse surfaces

and environments, regardless of material or texture, highlights the
versatility and adaptability of ultrasonic sensors.

●Cost-Effectiveness: Ultrasonic sensors offer a cost-effective

solution for obstacle avoidance, making them accessible for a wide
range of applications, from hobbyist projects to industrial
automation.