VISVESVARAYA TECHNOLOGICAL UNIVERSITY

JANA SANGAMA, BELAGAVI-590018

SYNOPSIS
ON
OBSTACLE AVOIDING ROBOT USING ARDUINO

Submitted by

G MANOJ 1IC23ME403

SHIVANAND 1IC23ME415

VINOD KUMAR 1IC23ME423

VISHWANATH 1IC23ME425

Under the Guidance of

Dr. M S ASWATHNARAYN
Head,
Department Of Mechanical Engineering Impact
College of Engineering and Applied Sciences

Department of Mechanical Engineering

Impact College of Engineering and Applied Sciences
Kodigehalli, Sahakara Nagar, South Bangalore, Karnataka 560092
INTRODUCTION
Prevention of Object Collision is a necessary need of every autonomous movable robotic vehicle. Object
avoiding robot is designed to permit the robotic vehicle to move into a unfamiliar surrounding such that
it avoids colliding. It senses the obstacle in the path avoids it and restarts it walking. Prevention of Object
Collision in the robotic cars enhances greater adaptability for navigation in several surroundings and
increases the efficiency for constantly checking of homo sapiens is not necessarily required. Robots
guided with this technology have several varied advantages example landscape surveying, driverless
vehicles, automatic cleaning, supervising-robotic instruments in industries etc. Existing System In this
robotic vehicle, strategy for steering is needed so that functions of robot where the homosapiens
intervention is needed to control the robotic car. Modified System This system suggests self-driving
robot based car that does not need any remote for controlling the car. It detects objects smartly in its
path with the help of the sensors, avoids it and resumes running on the basis of decision taken on the
code (internal) that is made in order to run the car.

PROPOSED SYSTEM

This project describes about an obstacle avoidance robot vehicle which is controlled by IR
sensor. The robot is made using IR sensor and it is controlled by Arduino microcontroller. IR
sensor fixed in front portion of the robot vehicle. The sensor gets the data from surrounding area
through mounted sensors on the robot. The sensor is sense the obstacle and deviate its path to
choose an obstacle free path. The sensor will be send the data to the controller is compared with
controller to decide the movement of the robot Wheel. The robot wheel movement and direction
will be based on the sensing of the IR sensor and also using a wheel encoder. This vehicle is used
for detecting obstacle and avoiding the collision.

Fig.no.1
LITERATURE SURVEY

The application and multifaceted design of flexible robots are step by step building up every day.
They are consistently advancing into authentic settings in different fields, for instance, military,
clinical fields, space examination, and customary housekeeping. Development being uncritical
characteristic of adaptable robots in obstacle avoiding and way affirmation significantly
influences how people react and see an independent structure. PC vision and range sensors are
basic article recognizable proof systems used in versatile robots' ID. to operate an obstacle
recognition system began as precisely on time as the barrier recognition system. 1980's .
Regardless of the way that, in the wake of testing these advances it was contemplated that the
radar development was the most suitable for use as the other two advancement choices were
slanted to environmental restrictions, for instance, storm, ice, vacation day, and earth. The
measuring device approach was furthermore a monetarily sensible development each for this and
what is to come back . The sensors don't seem to be restricted to recognisable evidence of an
obstacle. Different sensors can be used to eliminate various features for plant representation in
plants, allowing a self-administering robot to provide the right fertiliser in the most ideal way,
indicating different plants as explained by. There are different IOT innovations in cultivating
which incorporates gathering of ongoing information on current climate that incorporate
nuisance invasion, mugginess, temperature, precipitation and so forth. At that point information
that is being gathered can be utilized to mechanize the cultivating methods and can be educated
on choice to extemporize amount and quality to decrease danger and squander, and limit the
activities expected to keep up the harvests.

For model, ranchers currently can screen soil dampness and temperature of ranch from distant
region and even apply the activities required for exactness cultivating. 2. Methodology and
Implement The procedure examined in this paper makes out of following stages. Furthermore,
the detected information is taken care of two Arduino board lastly prepared by the Arduino
programming. The framework advancement required an Arduino UNO for handling the sensor
(Echo IR sensor) information and flagging the actuator (DC engines) to impel. The Bluetooth
module is required for correspondence with the framework and its parts. Since the development
of first robot by George Devol in 1954, robotics has been evolved so far rapidly in many fields.
There are vast applications of robots in industrial and military work hence reducing manpower
with the help of IOT and AI. In recent years robotics is also applied in security purpose or as
surveillance robot in industries and military applications. According to the P. Parameswari et.al.,
2014 , Zigbee transmitter and receiver was used to create a wireless robot. AT89S52 was the key
microcontroller to control all the other sensors. LCD display was used to show the output.
According to Jayant Patil, 2017, Raspberry Pi was used to control the sensors, motor driver,
LCD display and an external camera, while external wife module was used to create a Wi-Fi
network.

According to M. Ashok Kumar et.al., 2018, Arduino UNO was used as the core microcontroller
to control the devices while Nodemcu ESP8266 was connected to send the data of the sensors to
cloud database. According to G. Anadravisekar et.al., 2018, Arduino UNO was the controller
used to control Wi-Fi module, sensors, camera and dc motor. External power supply was
generated of 12 volts by connecting two 6-volt batteries. The evolution of the project was
observed from microcontrollers to Arduino IDE and from Bluetooth module to ZigBee module
further extending to Wi-Fi module. We found that the Wi-Fi module would provide added
security and added range of distance. The Nodemcu Esp8266 was found to be useful to be used
as a Wi-Fi module and also the sensors can be integrated on it. While ESP32 cam which has
integrated camera can be used for surveillance as well as for controlling the motor driver to
control the directions.

Robot navigation problems can be generally classified as global or local, depending upon the
environment surrounding the robot. In global navigation, the environment surrounding the robot
is known and a path which avoids the obstacles is selected. In one example of the global
navigation techniques, graphical maps which contain information about the obstacles are used to
determine a desirable path. In local navigation, the environment surrounding the robot is
unknown, or only partially known, and sensors have to be used to detect the obstacles and a
collision avoidance system must be incorporated into the robot to avoid the obstacles. The
artificial potential field approach is one of the well-known techniques which has been developed
for this purpose. Krogh, for example, used a generalized potential field approach to obstacle
avoidance. Kilm and Khosla used instead harmonic potential functions for obstacle avoidance.
On the other hand, Krogh and Fang used the dynamic generation of sub goals using local
feedback information. During the past few years, potential field methods (PFM) for obstacle
avoidance have gained increased popularity among researchers in the field of robots and mobile
robots. The idea of imaginary forces acting on a robot has been suggested by Andrews and
Hogan and Khatib. In these approaches’ obstacles exert repulsive forces onto the robot, while the
target applies an attractive force to the robot. The sum of all forces, the resultant force R,
determines the subsequent direction and speed of travel.
Methodology and Scope
The base implementation for the project is shown below: In this project, the vehicle uses the
ultrasonic sensor to detect objects. Initially the system starts with one sensor i.e. ultrasonic, but
as car have some blind spots in its left and right direction that is why two additional sensors were
added to overcome the blind spot and limiting its chances of collisions. Robot is designed in such
a way that it detects the obstacle inside a particular range. Suppose there is something inside the
range, then that is referenced as as an obstacle the smart vehicle avoids it and changes its
direction. At the forepart on the left and right sides the sensors (ultrasonic) are embedded. They
produce an ultrasonic- pulse after every 300ms.

Whose echo comes back from the nearby obstacle after collision. We make use of the lapse of
time betwixt the ultrasonic pulse and its reflection, the UNO computes the separation from the
obstacles from where the reflection is arriving at the speed of 340m/s. Whenever the sensors
recognize the presence of obstruction within the threshold distance, the car diverts its path. Apart
from general movements, the car is arranged to manage the typical scenario where all the
ultrasonic-sensors have obstruction inside the particular distance. In that case, the robotic car
must turn back about 10ms then validate the separation from obstacles through sensors (left and
right). Car must differentiate the separation and turns according to the greater distance. Detector
for Obstacle Avoidance There are numerous numbers of sensors which are available for the
detecting the presence of the obstacle. Some of the popular sensors used are: Infrared Sensor,
Ultrasonic Sensor. It is used to calculate the range in its area of nearly hundred to thousand
points. For this project we are making use of ultrasonic for detecting the presence of obstruction
and its ignorance. Ultrasonic sensor consistently produces the high range signals, if the presence
of object is detected these signals are reflected and it is the excitation to the sensors.
 Fig.no.2

Future Scope

Adding Zigbee module

Adding GPRS and GPS

Adding Video camera for live streaming

By connecting Bomb detectors and metal detectors

Password protection

Alarm phone-dialer

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