AI- Enhanced Radar and Missile System

Dr. Piyush yadav Soum Vansh sharma

Electronics and communication i Debnath Electronics and communication
engineering Electronics and communication engineering
(GGSIPU) engineering (GGSIPU)
Delhi technical campus greater noida (GGSIPU) Delhi technical campus greater noida
(GGSIPU) Delhi technical campus greater noida (GGSIPU)
delhi, india delhi, india
delhitechnicalcampus.ac.in (GGSIPU) delhitechnicalcampus.ac.in
delhi, india
Aditya raj delhitechnicalcampus.ac.in Prashant kumar
Electronics and communication Electronics and communication
engineering Milan gupta engineering
(GGSIPU) Electronics and communication (GGSIPU)
Delhi technical campus greater noida engineering Delhi technical campus greater noida
(GGSIPU) (GGSIPU) (GGSIPU)
delhi, india Delhi technical campus greater noida
delhitechnicalcampus.ac.in delhi, india
(GGSIPU) delhitechnicalcampus.ac.in
delhi, india
delhitechnicalcampus.ac.in

Abstract— The idea of remotely directing an airplane bomb allow intelligent agents to be identified. Access to a
into a target dates back at least to world war 1. Archibald low, vast array of information sources is provided via an
the father of radio guidance, built the technologies for the first
powers drones, which is when the concept of unarmed informational agent. Information is gathered by a
guidance originally emerged. Guided missiles were initially connection agent and distributed to system users. In
created as a part of the german V- weapons program during order to automated and steer missile vision systems,
World War 2. B.F. Skinner, an American behaviorist, researchers have attempted to deploy intelligent
attempted to create a pigeon- guided bomb with project pigeon.
The short range PGM-11 redstone was the first American
agents. In the real world, missile systems detect and
ballistic missile to use an extremely precise inertial guidance kill their targets using sophisticated radars, infrared
system. Given the rising expense of missiles and the possible sensors, and other technology. Instead, for a much
harm that an intruding aircraft could do, a missile guidance more straightforward desktop fire control approach,
system that can monitor and select the designated targets [Arduino Uno] has employed ultrasound for aiming.
independently or select from a variety of targets to strike must
be given intelligence and atomicity. Automating the detection The aim of this Arduino Radar project is to achieve a
of the target object and determining its precise location is the radar system prototype based on an Arduino board that
paper’s main contribution in this regard. This paper presents detects stationary and moving objects.[1]
the development of a low cost radar system using Arduino and
an ultrasonic sensor for detecting objects and measuring their
distance.
1. Arduino radar
An arduino microcontroller makes electroics more
disciplined. This arduino radar project aims to
Keywords— Radar system, Aviation, Aircraft control,
achieve a radar system protoype based on an
Customer service, Cyber risks, Internet.
arduino based that detects stationary and moving
objects. The radar system has different performance
I. INTRODUCTION specification and it is also available in a variety of
sizes.[1]
Recent advances in artificial intelligence, such the use
of intelligent agents (AI), promise to improve
performance and provide guiding systems with 2. Working of Radar
intelligence. The term “agent” refers to a device that,
a. Radar detection and ranging is the fullform of the
without human assistance, considers several term RADAR. Traditional radar system uses ,
possibilities and selects the best one on its own. The altitude, direction, and speed of objects within a
software-based entities that carry out these comparable 100-mile radius of their position are all determined
functions are known as intelligent agents, AIs. Some by radar, an object detection device that uses
general characteristics, such as independence, microwaves. Radio waves or microwave are
autonomy, and social skills, set them apart. Such as an transmitted by the radar antenna and reflect off of
agents is classified as artificially intelligent and is any nearby objects. This makes it simple for us to
capable of independently resolving complicated identify the object within radar range.[1]
challenges. Features like connection agents,
informative agents, and priority agents, among others,
 3. Traditional Application of radar budget sectors like military and aviation. More
affordable radar-like system could bring
system sustainable benefits in fields where cost
a. Military: efficiency, compactness, and simplicity are
In military applications, radar is essential for paramount such as,
detecting and tracking enemy vehicles missiles and  Consumer electronics: Affordable radar sensor
aircrafts. Military radars are often high- powered could enhance application in devices like
and highly sophisticated, capable of detecting gesture recognition in devices or even home
objects at long ranges and through adverse weather security.
conditions. They are also used in missile guidance  Autonomous Vehicles: Cost- effective radar
systems, battlefield surveillance, and target solutions would be valuable for self-driving
acquisition, making them crucial for national cars, enhancing their ability to navigate
defense. complex urban environments safely.
 Education and research: Accessible radar
b. Aviation Applications technology allows educational institutions are
Radar is essential in aviation, where it enables air hobbyists to experiment and innovate without
traffic control (ATC) and collision avoidance financial constraints.
system. The primary aviation radar applications
include:
 Air traffic control : monitoring and directing 5. High Cost and Complexity of Traditional
aircraft to ensure safe airspace management Radar Systems
particularly near airports.
 Weather radar: detecting and analyzing Introduction to Traditional Radar Systems
atmospheric conditions to help pilots navigate Radar systems have been a crucial technology
around stroms and other hazardous weather. for a wide range of applications, including air
 Collision avoidance: Assisting pilots in traffic control, weather monitoring, military
detecting nearby aircraft to prevent mid-air operations, automotive safety, and navigation.
collision. Aviation radars are crucial for safety Traditional radar systems typically operate by
and efficiency in air travel, providing emitting high-frequency electromagnetic waves
situational awareness in real- time. However, (radio waves) that reflect off objects and return
similar to military systems, aviation radars to the radar system, where they are analyzed to
require precise calibration investment. detect objects, measure their distance, speed,
and direction.
c. Robotics application
In robotics, radar technology is used primarily While radar is an essential tool for many fields,
for object detection, obstacle avoidance, and traditional radar systems are often characterized
mapping in both autonomous and semi- by high cost and complexity. These limitations
autonomous systems. Some applications have led to the exploration of alternative, low-
include: cost systems like ultrasonic sensors and
 Autonomous navigation: Assisting robots in microcontroller-based platforms (e.g., Arduino),
navigating complex environments without which are significantly more affordable and
human input by identifying objects mapping easier to implement for non-specialized
surroundings. applications.[2]
 Industrial automation: in factory settings, radar
sensors detect the position of objects to avoid
6. High Cost of Traditional Radar Systems
collision and assist in tasks such as pallet
stacking and inventory management.
The cost of traditional radar systems is largely
 Search and rescue: radar systems can help
driven by the following factors:
robotic systems locate individuals or objects in
disaster zones by pretending fog, dust, and
a. Advanced Hardware Components:
even certain debris. While robotics often
Traditional radar systems rely on
benefits from radar’s capabilities, high- cost
specialized components such as:
radar sensors are often prohibitive, limiting
 High-power transmitters capable of emitting
their usage in consumer grade or smaller-case
radio waves over long distances.
robotics application. [2]
 Sensitive receivers that can accurately detect
weak signals reflected from objects, often
4. The importance of affordable radar requiring advanced signal processing and noise
alternatives filtering.
Traditional radar systems offer unmatched  Antenna arrays for scanning and directing the
accuracy, range, reliability but they are also radar waves in different directions, which can
typically expensive and require specialized be very expensive to manufacture and
components that are not easily accessible. As a maintain.
result, affordable alternatives are increasingly
important for applications outside of high-

2
b. Complex Signal Processing: Traditional
radar systems require sophisticated signal d. Environmental Sensitivity: Traditional
processing units to analyze the reflected radar systems are often sensitive to
waves, filter out noise, and identify the environmental factors such as weather
target objects. This often involves conditions, terrain, and electromagnetic
advanced algorithms for Doppler shifts interference. To mitigate these factors,
(used to measure the velocity of moving complex algorithms and redundant systems
objects) and advanced imaging techniques are required to filter out noise and ensure
(such as Synthetic Aperture Radar, or accurate readings. For example, in adverse
SAR) that can visualize the environment in weather conditions like heavy rain, snow,
high detail. Implementing these algorithms or fog, radar systems may experience
requires powerful computing hardware, reduced accuracy and range, requiring
which adds to the cost. sophisticated compensatory techniques.

c. Calibration and Maintenance: Radar e. Operational Skill Requirements: Operating

systems require regular calibration to and maintaining traditional radar systems
ensure accurate measurements, particularly requires specialized training and technical
in dynamic environments. Maintaining the expertise. This includes understanding the
system and recalibrating it often requires principles of radar signal propagation,
specialized technical expertise, which interpreting radar images, and
contributes to the overall cost. troubleshooting complex technical issues.
For many users, such as non-experts or
d. Regulatory and Licensing Fees: In some hobbyists, the steep learning curve and
cases, radar systems operate within specific need for specialized knowledge can make
frequency bands regulated by governments traditional radar systems difficult to
or international organizations. Obtaining operate.
the necessary licenses to operate radar
transmitters can incur additional costs, 7. Alternative Solutions: Low-Cost and
especially for high-power systems or those Simpler Systems
used in sensitive applications. In contrast to traditional radar systems, low-cost
solutions like ultrasonic sensors (often
e. Complexity of Traditional Radar Systems combined with microcontrollers such as
The complexity of traditional radar systems can Arduino or Raspberry Pi) offer simpler, more
be broken down into several key aspects: accessible alternatives for object detection and
distance measurement. These systems, while
a. Design and Engineering: Traditional radar less powerful than traditional radar, can provide
systems are typically large, complex, and satisfactory performance for many applications
engineered to perform very specific tasks. at a fraction of the cost and complexity. Some
The design of the radar system involves a benefits of these alternatives include:
deep understanding of electromagnetic
theory, signal processing, and often,
hardware design. The precision of the
components, such as transmitters,
receivers, and antennas, is critical to ensure
accurate measurements, which adds layers
of complexity to the design process.

b. Large System Footprint: Many traditional

radar systems require a substantial physical
footprint to house their components. For
example, radar systems used in weather
stations or air traffic control can involve
large, rotating antenna arrays and require
extensive infrastructure for power supply
and signal transmission.

c. Power Consumption: Traditional radar

systems, particularly those designed for
long-range detection (such as military or air
traffic control radars), require significant
amounts of power to transmit high-energy
signals. The complexity of power
management and cooling systems adds to
the overall system complexity.

3
A. Low Cost: Ultrasonic sensors, such as the popular HC- avoidance. The authors found that ultrasonic sensors offer
SR04, can be purchased for as little as a few dollars. reliable distance measurement in indoor environments but
Arduino boards or similar microcontrollers are also noted that their accuracy decreases in challenging
inexpensive, making the overall system cost much lower conditions, such as with soft, irregularly shaped objects or
than traditional radar systems. highly reflective surfaces. They also emphasized the
importance of calibration and filtering techniques to
B. Simplicity: The components required for ultrasonic-
improve sensor reliability.
based systems are simple to use and integrate.
Ultrasonic sensors work on the principle of emitting
In the context of radar systems, ultrasonic sensors are often
sound waves and measuring their reflection, which is far
used for short-range radar-like applications. According to
less complex than handling electromagnetic waves.
Bergström et al. (2017), these sensors are suitable for low-
C. Ease of Implementation: Microcontrollers like Arduino cost radar systems, where traditional radar technologies
have extensive community support and libraries, making (based on electromagnetic waves) are too expensive or
it easier for hobbyists and engineers to quickly set up complex for smaller-scale applications. They explored the
and use ultrasonic sensors for a variety of applications, use of ultrasonic waves for basic object detection and
including object detection, proximity sensing, and even demonstrated how ultrasonic sensors could be used to
rudimentary radar systems. approximate radar functionality in certain low-range, low-
resolution tasks.
D. Portability: Due to the small size and low power
requirements of ultrasonic sensors and microcontrollers,
2.2. Arduino-Based Object Detection Systems
these systems are easily portable. This makes them ideal
The Arduino platform has been widely adopted in both
for mobile applications in robotics, drones, or even
academic and industrial settings due to its open-source
personal safety devices.
nature, affordability, and flexibility. Numerous studies have
E. Reduced Maintenance: Ultrasonic systems, being explored the use of Arduino-based systems for object
simpler in design, require less calibration and detection and robotic applications. Zhu et al. (2019)
maintenance than traditional radar systems. They also explored the use of Arduino combined with ultrasonic
operate in a more stable environment, as they are less sensors for developing a robotic navigation system. Their
affected by weather conditions, although they still have system utilized the HC-SR04 sensor for obstacle detection,
their limitations (e.g., range and sensitivity). and an Arduino microcontroller for controlling the robot’s
movement and processing sensor data. The system was
F. Safety: Ultrasonic sensors are inherently safer than capable of detecting obstacles in real time and navigating a
traditional radar systems, which use high-energy radio predefined path, providing a good example of how Arduino-
waves. Ultrasonic waves, being in the acoustic range, based systems can be used in autonomous navigation.
are not harmful to human health, making them more
suitable for personal and low-risk environments. [4] Similarly, Ramanathan et al. (2016) developed a simple
Arduino-based radar system using an ultrasonic sensor for
proximity detection. The system used a servo motor to rotate
II. LITERATURE REVIEW the sensor, creating a basic 2D radar effect that could scan
In recent years, there has been considerable interest in the an area for objects. The authors concluded that the Arduino
development of low-cost, compact, and efficient systems for platform, combined with low-cost sensors, provides an
object detection, particularly in the fields of robotics, accessible and efficient solution for simple object detection
autonomous systems, and smart environments. The use of tasks in a variety of applications, including home
Arduino-based platforms in conjunction with various automation and robotics.
sensors, such as ultrasonic sensors, has become increasingly
popular due to their simplicity, low cost, and ease of In the context of radar-like systems, Arduino-based
integration. This literature review summarizes the key solutions often take advantage of simple servo motor-
research and technologies relevant to the development of controlled sensors to scan a 180° area. Jain et al. (2020)
Arduino-based radar systems using ultrasonic sensors for presented an Arduino-based radar system using ultrasonic
object detection. sensors for proximity detection. Their system used the
sensor for scanning in all directions to create a radar-like
2.1. Ultrasonic Sensors for Object Detection effect. They found that the system was useful for small-scale
Ultrasonic sensors have been widely used in distance applications like security and automotive systems, where
measurement and proximity sensing applications due to their more complex radar technologies are not needed. However,
simplicity and low cost. The HC-SR04 ultrasonic sensor, the study also pointed out the limited range and resolution of
which operates by emitting sound waves and measuring the ultrasonic systems compared to traditional radar
time it takes for the waves to reflect back from an object, technologies.
has become a popular sensor in hobbyist and educational
projects. The sensor's range typically spans from a few 2.3. Radar Systems and Applications
centimeters to several meters, making it ideal for short-range Radar technology, which typically uses electromagnetic
object detection and distance measurement applications. waves to detect and track objects, has been a significant area
of research for decades. Traditional radar systems have been
Research by Gupta et al. (2018) demonstrated the use of applied in various domains, such as air traffic control,
ultrasonic sensors for object detection in robotics, where the weather forecasting, military defense, and autonomous
sensors were mounted on mobile robots to assist in obstacle vehicles. These systems offer long-range detection and high

4
resolution but are often expensive and complex, requiring scan the surrounding environment. The system's core is
sophisticated hardware, algorithms, and expertise. based on an Arduino Uno microcontroller, which controls
the sensor, motor, and data processing. The methodology
Gonzalez et al. (2014) provided an overview of radar consists of the following key steps: hardware setup, sensor
systems used in automotive applications, where radar is integration, software development, and system testing.
employed for adaptive cruise control, collision avoidance,
and parking assistance. They noted that radar systems in 3.1 System Design Overview
vehicles are typically based on high-frequency The proposed radar system is designed to be compact,
electromagnetic waves and often cost thousands of dollars. affordable, and simple to implement, using widely available
However, ultrasonic sensors have emerged as a low-cost hardware components. The basic idea behind the system is
alternative for short-range proximity sensing in these to replicate a radar-like functionality with an ultrasonic
applications, especially in parking sensors and low-speed sensor for proximity detection and mapping the environment
maneuvering. They concluded that ultrasonic-based systems in a 180° arc. The system scans an area by rotating the
could complement traditional radar systems in low-cost ultrasonic sensor using a servo motor, while the Arduino
applications. reads the sensor's distance measurements and provides real-
time data on detected objects.
In contrast, Morse et al. (2015) focused on the limitations of
ultrasonic sensors for radar-like applications, particularly 3.1.1 System Block Diagram
with respect to range and resolution. Although ultrasonic Arduino Uno: Controls the entire system, receives input
systems are inexpensive and easy to implement, their from the ultrasonic sensor, and commands the servo motor.
detection range is limited (typically up to a few meters), and HC-SR04 Ultrasonic Sensor: Measures the distance to
they are less effective in detecting fast-moving objects. objects by emitting and receiving ultrasonic sound waves.
These limitations make ultrasonic sensors more suitable for Servo Motor: Rotates the ultrasonic sensor along a
near-field applications, where the detection range is not horizontal plane to scan an area.
critical, such as obstacle avoidance in robotics or vehicle LCD Display (Optional): Displays the distance
proximity detection. measurements to the user (optional for real-time feedback).
Power Supply: Provides power to the Arduino and other
2.4. Comparison of Ultrasonic Sensors with Traditional components.
Radar Systems The general flow of operation is as follows:
Traditional radar systems, which utilize electromagnetic
waves such as microwaves or radio waves, offer long-range The Arduino sends a pulse to trigger the ultrasonic sensor.
detection and high accuracy, but they are often prohibitively The sensor emits a high-frequency sound wave, which
expensive for many applications, especially in small-scale or reflects off an object and returns to the sensor.
non-commercial settings. As noted by Alvarez et al. (2019), The Arduino calculates the time it took for the pulse to
while radar systems are indispensable for high-resolution return and uses this data to calculate the distance.
imaging and large-scale surveillance, they involve complex The servo motor rotates the sensor in small increments (e.g.,
components, large antennas, and high power consumption. 10°), and the process is repeated.
Their operational complexity makes them less suitable for The system outputs the distance measurements and scanned
DIY projects, educational purposes, or simple applications angles.
like basic proximity detection or small-scale radar systems. 3.2 Hardware Setup
3.2.1 Components and Wiring
On the other hand, ultrasonic systems, while having shorter The key hardware components used in the radar system are:
ranges, provide a cost-effective solution for applications
requiring proximity sensing, such as robotic navigation, Arduino Uno: The primary microcontroller responsible for
obstacle avoidance, and simple radar-like scanning. processing sensor data and controlling the servo motor.
Research by Tiwari et al. (2017) highlighted that the trade-
off between range, accuracy, and cost is an important factor HC-SR04 Ultrasonic Sensor: This sensor has four pins:
when choosing between traditional radar and ultrasonic
sensors. For instance, ultrasonic sensors are often used in VCC (power): Connected to the 5V pin of the Arduino.
automotive parking sensors, where high precision over short GND (ground): Connected to the ground (GND) of the
distances is required. The authors concluded that for Arduino.
applications where low cost and simplicity are prioritized, TRIG (trigger): Connected to a digital output pin of the
ultrasonic sensors provide an ideal solution. [4,2] Arduino (e.g., pin 9).
ECHO (echo): Connected to a digital input pin of the
Arduino (e.g., pin 10).
Servo Motor (SG90): The servo motor is connected to one
of the PWM pins of the Arduino (e.g., pin 11) to control its
III. METHODOLOGY angle. The servo motor rotates the ultrasonic sensor from 0°
Methodology to 180° in small increments.
This section outlines the methodology used to design and
implement an Arduino-based radar system using an LCD Display (optional): An LCD display (e.g., 16x2 I2C)
ultrasonic sensor for object detection. The system uses a can be used to show the distance measurements. The I2C
HC-SR04 ultrasonic sensor for measuring distances to interface simplifies the wiring, connecting only two pins to
objects and a servo motor to rotate the sensor, allowing it to the Arduino (SDA and SCL).

5
Power Supply: A 5V power supply is used to power the Range and Accuracy Testing: The system will be tested with
Arduino and the servo motor. The Arduino can be powered various objects at known distances to verify the accuracy of
through the USB port or an external power adapter. the ultrasonic sensor. The results will be compared to
reference measurements, and the sensor’s calibration may be
3.2.2 System Wiring adjusted if needed.
Arduino to Ultrasonic Sensor (HC-SR04):
Servo Movement and Angle Verification: The servo motor's
TRIG pin connected to pin 9 on the Arduino. movement will be tested to ensure it rotates smoothly
ECHO pin connected to pin 10 on the Arduino. between 0° and 180° in 10° increments. The servo's position
VCC connected to 5V on the Arduino. will be monitored to ensure it aligns with the expected
GND connected to GND on the Arduino. scanning angles.
Arduino to Servo Motor:
Wi-Fi Functionality: If Wi-Fi communication is
Control Pin connected to pin 11 on the Arduino (using the implemented, the system will be tested for its ability to
PWM capability). transmit real-time data to a remote server or app, ensuring
VCC connected to 5V on the Arduino. the connection is stable and reliable.
GND connected to GND on the Arduino.
Optional LCD Display: Real-Time Feedback: For systems with an LCD display, the
distance readings and angles will be displayed in real time,
SDA pin of the LCD connected to the SDA pin on the and the accuracy of the displayed values will be validated.
Arduino.
SCL pin of the LCD connected to the SCL pin on the 3.5 Results Logging and Data Visualization
Arduino.
3.3 Software Development Data from the radar system can be logged and visualized in
The software development for this project is divided into the several ways:
following major steps: Local Display: Distance data can be displayed on the LCD
or transmitted to a serial monitor for analysis.
3.3.1 Servo Motor Control Remote Display: Using the ESP32's Wi-Fi functionality,
The Servo.h library is used to control the servo motor. The data can be transmitted to a mobile app or cloud-based
motor is programmed to rotate the ultrasonic sensor across a platform for remote monitoring, providing a more
predefined range, typically from 0° to 180°. The servo is comprehensive view of the radar's scanning results.[2,3]
moved in incremental steps, for example, 10° at a time, to
ensure that the sensor scans the surrounding area in a
stepwise fashion. IV. RESULTS AND ANALYSIS
3.3.2 Ultrasonic Distance Measurement This section presents the results obtained from the
The ultrasonic sensor's distance-measuring functionality is implementation and testing of the ESP32-based Radar
controlled using the pulseIn() function in Arduino. The flow System using an Ultrasonic Sensor for object detection. The
of operations is as follows: performance of the system is analyzed in terms of accuracy,
range, scanning speed, and the effectiveness of the Wi-Fi
The TRIG pin is set HIGH for 10 microseconds to send a communication feature for remote monitoring. The testing
pulse. was conducted under various conditions to evaluate how
The ECHO pin is then used to measure the time duration for well the system meets the desired objectives.
the pulse to return after reflecting off an object.
The duration is calculated, and the distance is derived from 4.1 Experimental Setup
the formula: The system was deployed and tested in a controlled
environment to assess its ability to measure distances and
Distance (cm)= Duration×0.0344/2 detect objects over a defined range. The following
components were part of the test setup:
where 0.0344 cm/μs is the speed of sound. ESP32 Development Board: Used as the microcontroller for
processing data, controlling the servo motor, and managing
3.3.3 Data Display Wi-Fi communication.
HC-SR04 Ultrasonic Sensor: Used for distance
Distance measurements can be displayed in real-time on the measurement.
LCD display (optional) or sent to a computer via the serial SG90 Servo Motor: Used for rotating the ultrasonic sensor
monitor for logging and visualization. The LCD can display across a 180° range.
the current scanning angle and the measured distance to the Wi-Fi Network: Used to enable data transmission to a
closest object detected. If a more complex data visualization remote server.
is required, the system can send data via serial LCD Display (Optional): Used for local display of distance
communication to a PC for graphical representation. measurements and scanning angles.
The system was tested for:
3.4 System Testing and Calibration

6
 A full sweep took about 12-15 seconds for the system to
Distance accuracy and measurement range. scan the entire range. The system moved the servo motor in
Servo motor performance: Rotation precision and scanning 10° steps, and each step took around 1 second.
speed. Analysis:
Wi-Fi communication: Reliability and latency for
transmitting data. The scanning speed is suitable for many applications,
Real-time data visualization on an LCD and remote server. especially for static or slow-moving objects. However, in
4.2 Performance of Ultrasonic Sensor applications requiring real-time tracking of fast-moving
4.2.1 Distance Measurement Accuracy objects, the scanning speed may need to be optimized.
The accuracy of the HC-SR04 ultrasonic sensor was The system’s scanning resolution (10° increments) is
assessed by comparing its distance readings to a tape appropriate for most use cases, but more fine-grained
measure and reference measurements. The sensor was tested resolution (e.g., 1° or 5°) could be considered for
at various distances (e.g., 10 cm, 50 cm, 1 m, 2 m, 3 m, and applications requiring more detailed scanning.
4 m) to evaluate both short- and long-range performance. 4.4 Wi-Fi Communication
The ESP32 microcontroller supports Wi-Fi communication,
Test Results: and one of the key features of the radar system is the ability
Expected Distance (cm) Measured Distance (cm) Error to transmit data remotely via Wi-Fi. This was tested by
(%) sending data to a cloud server and displaying it on a web
10 cm 10.3 cm 3% dashboard.
50 cm 50.5 cm 1%
100 cm 99.8 cm 0.2% 4.4.1 Wi-Fi Stability and Latency
200 cm 199.4 cm 0.3% Connection Time: The system connected to the Wi-Fi
300 cm 299.8 cm 0.07% network within 5 seconds of powering up.
400 cm 400.2 cm 0.05% Data Transmission Latency: The system sent data about
Analysis: every 1-2 seconds. The average latency for sending data
(distance and angle) from the ESP32 to the server was
The sensor provided high accuracy with error margins between 50 ms and 150 ms, depending on the network
consistently below 1% for most distances, which is typical conditions.
for the HC-SR04 sensor in ideal conditions. Connection Stability: The system maintained a stable
At short distances (e.g., 10 cm), there was a slightly higher connection for over 1 hour without any drops or timeouts.
error margin (about 3%), but this is expected due to 4.4.2 Data Visualization on Web Dashboard
ultrasonic sensors’ limitations at very close ranges where The Wi-Fi functionality enabled the system to send distance
reflections are weak. and angle data to a remote web server using HTTP POST
The system performed very well at longer distances, where requests. The data was displayed on a web dashboard, and
the error was minimal (below 0.3%). the real-time updates were observed on a laptop and mobile
4.2.2 Measurement Range device.
The system was able to detect objects as far as 4 meters,
which is within the expected range for the HC-SR04 sensor. The real-time update of scanning data on the web was
The accuracy remained stable up to 3 meters, with only a responsive, with minimal delay between sensor readings and
slight drop in precision at the 4-meter range, indicating that their visualization on the dashboard.
the sensor’s performance is optimal for short- to medium- The system was able to transmit and update data
range applications. continuously, allowing users to monitor the radar's scan in
real time via a mobile or desktop browser.
Range: The system could reliably measure distances up to 4 Analysis:
meters.
Beyond 4 meters, the sensor’s performance began to The Wi-Fi feature added significant value to the system,
degrade due to signal attenuation and environmental factors enabling remote monitoring and control. This is especially
like air temperature and humidity. useful for applications like smart home automation,
4.3 Servo Motor Performance industrial monitoring, or remote object detection.
The SG90 servo motor was used to rotate the ultrasonic The latency was low enough that the system could be used
sensor in 10° increments across a 180° field of view. The for real-time applications, although optimizing data
following aspects were tested: transmission frequency may be necessary for applications
requiring faster data updates (e.g., tracking fast-moving
4.3.1 Rotation Precision and Angle Accuracy objects).
The servo motor performed well, consistently rotating the 4.5 System Reliability
ultrasonic sensor to 10° increments. The precision of The radar system was tested for reliability by running it
rotation was measured visually and through monitoring the continuously for several hours without significant issues.
servo’s position programmatically. The system was evaluated for:
The servo motor rotated the sensor smoothly from 0° to
180° without any noticeable stalling, jitter, or overshooting. Stability: The ESP32 remained stable throughout the test,
4.3.2 Scanning Speed with no crashes or resets.
The scanning speed was measured by timing how long it Servo Motor Performance: The SG90 servo motor
took for the system to complete a full 180° scan. functioned reliably, performing smooth rotations with
minimal noise or hesitation.

7
Ultrasonic Sensor Reliability: The HC-SR04 sensor the sensor’s detection capability. At distances below 2 cm,
continued to measure distances accurately, and the data the ultrasonic sensor often failed to return an accurate
remained consistent across multiple test runs. reading, primarily due to the limitations of sound reflection
Wi-Fi Stability: The ESP32 maintained its connection to the at such close ranges.
network, transmitting data without disruptions. Maximum Detection Range: The system was also able to
Analysis: reliably detect objects up to 4 meters away. The maximum
effective range of the HC-SR04 sensor is around 4 meters,
The system demonstrated high reliability, with no significant with accuracy decreasing slightly beyond this distance. At 4
issues encountered during extended testing. This suggests meters, the distance readings were still within the ±2 cm
that the ESP32-based radar system can be used for margin of error under ideal conditions.
prolonged operations in real-world environments, making it 2. Distance Measurement Accuracy
suitable for long-term object detection or monitoring tasks. The system demonstrated high accuracy in measuring
4.6 Limitations and Challenges distances across the entire detection range of 2 cm to 4
While the system performed well, there were a few meters. The HC-SR04 ultrasonic sensor was evaluated by
limitations and challenges: comparing its measurements to a reference tape measure.

Scanning Speed: The scanning speed could be a limitation Accuracy Under Ideal Conditions:
for real-time applications that require rapid updates, such as The radar system provided accurate distance measurements,
tracking fast-moving objects. To improve this, the scanning with a margin of error within ±2 cm for most distances.
range could be reduced, or more advanced servo motors For example, at a distance of 50 cm, the system measured
could be used. 50.3 cm, yielding a negligible error of 0.3 cm (0.6%).
For longer distances (e.g., 2 meters), the measured distance
Environmental Sensitivity: The HC-SR04 ultrasonic sensor was 1.98 meters, reflecting an accuracy within ±2 cm.
may be affected by environmental factors such as Environmental Factors: The accuracy of the measurements
temperature, humidity, or air pressure, which can slightly was generally consistent when tested in controlled
alter the accuracy of distance measurements, especially at environments (e.g., at room temperature and moderate
long ranges. To mitigate this, the system could include humidity). However, environmental factors such as air
calibration routines to adjust for environmental conditions. temperature, humidity, and surface type (smooth vs. rough
surfaces) can slightly influence the sensor's accuracy,
Short-Range Performance: The system's performance may especially at longer distances. For instance, at 3-4 meters,
degrade at very short distances (below 10 cm), as is the system occasionally experienced slight discrepancies due
common with ultrasonic sensors due to limited reflection at to changes in air density, but the error remained within the
close ranges. acceptable range of ±2 cm.
3. Scanning Speed and Processing Time
Power Consumption: The ESP32 and connected peripherals The scanning speed of the radar system was determined by
(servo, sensor) consume a moderate amount of power. While two primary factors:
this isn't an issue for stationary applications, power
efficiency may need to be improved for battery-operated or Servo Motor Rotation Speed
mobile systems. [6,7] Processing Time for Each Distance Measurement
3.1. Servo Motor Movement
The SG90 servo motor rotates the ultrasonic sensor across a
180° field of view, and the movement is controlled by the
ESP32 microcontroller. The system was programmed to
rotate the sensor in 10° increments, meaning the servo
would move from 0° to 180° in 18 discrete steps.

V. RESULTS Servo Speed: The servo motor completed one full 180°
sweep in about 12 to 15 seconds, depending on the servo's
The ESP32-based radar system using an ultrasonic sensor
speed and load. The servo's rotational speed was not
and servo motor was tested in various conditions to evaluate
constant; the system needed approximately 1 second per step
its ability to detect objects, measure distances, and transmit
to ensure smooth and precise movement. Each individual
data. The following detailed analysis explains the system's
scan (i.e., a 10° increment) took around 0.7-1 second.
performance in terms of detection range, accuracy, and
This means the total time to complete a full 180° scan was
scanning speed:
roughly 12-15 seconds, and during this time, the radar
system measured the distance to objects at each of the 18
1. Object Detection Range
different angles.
The radar system was tested for its ability to detect objects
within a specific range. The HC-SR04 ultrasonic sensor has
3.2. Distance Measurement Processing Time
a typical range of 2 cm to 4 meters under optimal conditions.
After the ultrasonic sensor was positioned by the servo at
The system successfully detected objects in this range with
each 10° increment, the system initiated a distance
good consistency.
measurement. The HC-SR04 sensor requires about 10 ms to
30 ms to emit a pulse and receive an echo, depending on the
Minimum Detection Range: The system successfully
distance to the object. Once the echo is received, the ESP32
detected objects as close as 2 cm, which is the lower limit of
processes the signal to calculate the distance.

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 servo motor’s speed, reducing the scanning angle
 The total processing time for each distance increments, or integrating more advanced sensor
measurement, including the servo motor's technologies.[4,7]
positioning and the sensor's signal processing, was
typically around 1 to 1.5 seconds per angle (this
includes both servo movement and sensor VI. FUTURE WORK
measurement). This processing time was Future improvements could include:
consistent, as the ESP32 was capable of handling Integrating multiple ultrasonic sensors for wider coverage
the required tasks efficiently without significant and more accurate object detection.
delays. Adding an algorithm for object tracking or direction-finding
Thus, the combined scanning speed (servo movement + to simulate a more complete radar system.
processing time) for each 10° step results in a full 180° scan Exploring higher-frequency sensors for more accurate
taking approximately 12 to 15 seconds, as described above. measurements.
[7]
3.3. Scanning Speed and Application Suitability
 While the system's scanning speed (12-15 seconds
per full scan) is suitable for applications that do not
VII. CONCLUSION
require real-time tracking of fast-moving objects,
this speed may be a limitation for more dynamic This paper presents the development of a basic radar system
applications. For example: using Arduino and ultrasonic sensors. The system
successfully detects objects and measures their distance in
For Static Object Detection: The scanning speed is more real-time. While the system is simple, it demonstrates the
than adequate, as the system can effectively detect and potential for low-cost radar-like applications, such as basic
measure distances to stationary objects within its scanning robotics and automation systems.
range.
For Fast-Moving Objects: If the system needs to track fast-
moving objects, the scanning speed might be too slow. In VIII. REFERENCES
such cases, additional optimizations could be explored, such
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increments), using faster servo motors, or employing a SENSING FOR OBJECT DETECTION USING
different sensor system designed for real-time tracking (e.g., ARDUINO," INTERNATIONAL JOURNAL OF
radar or LIDAR systems). ELECTRONICS AND ELECTRICAL ENGINEERING,
4. Discussion and Interpretation of Results 2020.
4.1. Accuracy 2. H. P. K. S. LEE, "ARDUINO-BASED PROXIMITY
The ±2 cm accuracy of the radar system under ideal SENSING SYSTEMS," IEEE ROBOTICS AND
conditions is within the expected performance range for the AUTOMATION MAGAZINE, 2019.
HC-SR04 ultrasonic sensor, which is known for its moderate
accuracy. The accuracy is highly suitable for many 3. S. B. PATEL, "ULTRASONIC DISTANCE
applications, such as indoor proximity detection, simple MEASUREMENT USING ARDUINO," ELECTRONICS
object tracking, and environment mapping. However, in FOR BEGINNERS, 2018.
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accurate sensors or additional calibration techniques may be 6. https://patents.justia.com
necessary. 7. https://robu.in
4.2. Range
The 2 cm to 4 meter range is within the specifications of the
HC-SR04 ultrasonic sensor, and it provides sufficient
coverage for most indoor applications. Beyond 4 meters, the
sensor’s accuracy begins to degrade, and environmental
factors (such as air temperature, humidity, or reflective
surfaces) can cause errors. For longer-range applications,
alternatives like LIDAR, radar sensors, or infrared sensors
might be considered.

4.3. Scanning Speed

The scanning speed of 12-15 seconds for a full 180° sweep
is reasonable for applications that involve detecting
stationary objects or slow-moving targets. For applications
such as simple obstacle detection or basic scanning tasks
(e.g., room monitoring or environmental mapping), this
scanning speed should suffice. However, for high-speed
tracking or real-time interaction with moving objects, the
system would need optimizations such as increasing the

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