OBSTACLE DETECTION BOT USING

ARDUINO
Monesh G Santhosh R
School of Electrical and Electronics Engineering School of Electrical and Electronics Engineering
VIT University ,Chennai, Tamilnadu, India VIT University ,Chennai, Tamilnadu, India

Athish Prakalath Vikash Natesan S

School of Electrical and Electronics Engineering School of Electrical and Electronics Engineering
VIT University ,Chennai, Tamilnadu, India VIT University ,Chennai, Tamilnadu, India

Arun S Monish Arumugam Rs

School of Electrical and Electronics Engineering School of Electrical and Electronics Engineering
VIT University ,Chennai, Tamilnadu, India VIT University ,Chennai, Tamilnadu, India

Abstract— Aim of this project is to design an Obstacle Today, robot systems are developed with the use of
Detection Robotic Vehicle using Arduino. The working is artificial intelligence algorithms. The robotics field is one of
based on Arduino micro-controller, motor driver and them. The most important part of the robot is the perception.
ultrasonic sensor. In this study, design and Perceive of the environment will be important for a robot
implementation of a robotic vehicle have been presented design. For instance, it is very important to identify explosives
with regards to hardware, software capable of obstacle by a robot to detect a terrorist in the military field by using
detection and obstacle avoidance. The idea is to first code sensors. A robot has to perceive some variables (like heat
the entire working using our previous knowledge of changes) around it, interpret it, and then decide to act
programming. The code will then be simulated on accordingly. In this article, robotic car has been presented in
software and later be interfaced with the hardware. All terms of obstacle detection and avoidance by using sensors
the controls of the vehicle will be based on program which works automatically, the user leaves the robot control
embedded into Arduino. We chose this for our major and the robot finds its way without hitting the obstacles. The
project as robotics has become a major part of our robot detects living beings that are encountered and finds its
everyday lifestyle and also have a wide scope in the way without hitting spot and when it comes to the obstacle it
engineering field. It plays a vital role in the development perceives and stops.
of new technology. II. PROPOSED ALGORITHM
The sonar system is used in HC-SR04 ultrasonic sensor to
Keywords— Ultrasonic Senor, Arduino Uno, Motor Driver
determine distance to an object like bats do. It offers excellent
Shield, and Servo Motor.
non-contact range detection from about 2 cm to 400 cm or 1’’
I. INTRODUCTION to 13 feet. Its operation is not affected by sunlight or black
material. The ultrasonic sensor emits the short and high
In the last decade, with the development of technology, frequency signal. If they detect any object, then they reflect
sensors used with electronic devices have been used in many back echo signal which taken as input to the sensor through
areas to facilitate life. Sensors are devices that convert energy Echo pin.
forms into electrical energy. The sensors serve as a bridge
connecting the environment and various electronic devices.
Firstly we initialize Trigger and Echo pin as low and push
The environment can be any physical environment such as
the robot in forward direction. When obstacle is detected Echo
military areas, airports, factories, hospitals, shopping malls,
pin will give input as high to micro- controller. pulseIn( )
etc. Today, there are hundreds of types of sensors produced by
function is used for calculating the time of distance from the
the development of technology such as heat, pressure, obstacle
obstacle. Every time the function waits for pin to go high and
recognizer, human detecting. Sensors were used for lighting
starts timing, then timing will be stopped when pin go to low.
purposes in the past, but now they are used to make life easier.
It returns the pulse length in microseconds or when complete
pulse was not received within the timeout it returns 0.
 The timing has been determined means it gives length of
the pulse and will show errors in shorter pulses. Pulses from
10microseconds to 3 minutes in length are taken into
consideration. After determining the time, it converts into a
distance. If the distance of object is moderate then speed of
robot get reduced and will take left turn, If obstacle is present
in left side then it will take right turn.If the distance of object
is short then speed of robot get reduced and will turn in
backward direction and then can go in left or right direction.

Fig. 1. Block Diagram

Fig. 2. Circuit Diagram

this process, after that apply the inverse wavelet transform

to the image for find out watermark image.

III. WORKING PRINCIPLE

The obstacle avoidance robotic vehicle uses Fig. 3. Flow Chart
ultrasonic sensors for its movements. Arduino is used to
achieve the desired operation. The motors are
connected through motor driver IC microcontroller. IV. EXPERIMENT AND RESULT

Testing of components is done individually and

The ultrasonic sensor is attached in front of the programming is done using Arduino IDE, following results are
robot. Whenever the robot is going on the desired path obtained as shown in figure below
the ultrasonic sensor transmits the ultrasonic waves
continuously from its sensor head. Whenever an
obstacle comes ahead of it the ultrasonic waves are
reflected back from an object and that information is
passed to the microcontroller. The microcontroller
controls the motors left, right, back, front based on
ultrasonic signals. In order to control the speed of each
motor pulse width modulation is used (PWM).

(a)
 The result is obtained for obstacle avoidance robot
using Arduino, if the robot moves forward if any obstacle
detect it check for other directions and moves where there is
no obstacles it moves in forward direction, to sense the
obstacle ultrasonic sensor is used. We used servo motor to
rotate the ultrasonic sensor. The safe distance that can be
sensed by the sensor is set to 15 cm.

(b)

Fig. 5. Robotic Vehicle

(c)

V. CONCLUSION
The above Arduino controller and ultrasonic sensor were
studied and the HcSR-04 ultrasonic sensor was selected, as the
controlling result are satisfying for its use in the automobile
prototype system being developed. It was used to sense the
obstacle and avoidance them. On successful implementation
of obstacle avoidance algorithm was successfully carried out
too with minimal errors, by coding the algorithm. Obstacle
avoidance is a very good application to be used in vehicle
preventing many accidents and loss of life.

(d)
VI. ACKNOWLEDGEMENT

I would like to express my sincere gratitude to Jyosmitha

Mishra for her invaluable guidance, support, and encouragement
throughout the development of the "Obstacle Detection Bot"
project. Her expertise and insights played a crucial role in
shaping the project and overcoming challenges along the way.

This achievement would not have been possible without her

mentorship and dedication. Thank you for inspiring innovation
and fostering a collaborative learning environment.

VII. REFERENCE
[1] Qamar-ul-Islam, Shubam Sagoch, Dikshit Langer, Faiza
Tabassum, Ishrat Nabi “Cell Phone Controlled Robotic
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Engineering, BGSB University (IJEECS), ISSN 2348-
117X , volume 7, issue 3 March 2018.
(e)
[2] Esra Yılmaz, Sibel T. Özyer* “Remote and Autonomous
Controlled Robotic Car based on Arduino with Real Time
Obstacle Detection and Avoidance” Department of
Computer Engineering, Çankaya University,
Turkey(Universal Journal of Engineering Services) DOI:
10.13189/ujes.2019.070101.
[3] D. Kalaiarasi, Pavithra .S, Pratheeba .S, Priyaadharshini
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Car” Department of Electronics and Communication
Engineering, Panimalar Institute of Technology, Tamil
Nadu ,International Research Journal Of Engineering and
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[4] Namita Shinde, Shreya Srivastava, Vineet Sharma,
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and Electrical Engineering, ISSN(p): 2347-6982,
ISSN(e): 2349-204X Volume-6, Issue-3, Mar.-2018,
http://ijieee.org.in
[5] Obstacle avoidance robotic vehicle using ultrasonic
sensors for obstacle detection :
http://www.elprocus.com/obstacle-avoidance- robotic-
vehicle/
[6] How to make an obstacle avoiding robot:
http://www.instructables.com/id/How-To-Make-an-
Obstacle-Avoiding-Arduino-Robot/
[7] Obstacle avoiding robot without microcontroller:
http://www.roboticsbible.com/project-obstacle- avoiding-
robot.html
[8] IEEE paper for Obstacle avoidance robot using ultrasonic
sensors:
http://www.personal.umich.edu/~ykoren/uploads/Obstacle
_avoidance_w_ultrasonic_sensors_IEEE.pdf
[9] Obstacle avoiding robot without microcontroller:
http://www.roboticsbible.com/project-obstacle- avoiding-
robot.html