Obstacle Avoidance Robotic Vehicle UsingUltrasonic Sensor,

Arduino Controller
1 Rajkumar, 2 Deepak Gupta, 3 Snehil Shrey

ABSTRACT

Autonomous systems are increasingly being used worldwide to carry out pertinent and sensitive
tasks. Its use in a variety of sectors, however, cannot be overstated. An ultrasonic sensor-
controlled robot vehicle that avoids obstacles is the subject of this project. An Arduino
microcontroller is used to drive the robot, which is constructed with an ultrasonic sensor.
ultrasonic sensor mounted on the robot vehicle's front end. Through mounted sensors onthe
robot, the sensor gathers data from the surrounding environment. When the sensor detects an
obstruction, it changes course to select a path clear of obstacles. Thesensor will provide data to
the controller, which will compare it with the controller to determinehow the robot wheel will
move. The robot's wheel movement and direction will be determined by the wheel encoder in
addition to the ultrasonic sensor. The purpose of this vehicle is to identify obstacles and prevent
collisions.

Key Words: Obstacle, Microcontroller, Ultrasonic sensor, Arduino, Encoder

Introduction

The undertaking is intended to construct an obstacle avoidance robotic vehicle involving

ultrasonic sensors for its movement. An Arduino uno is utilized to accomplish the ideal
activity. A robot is a machine that can perform task naturally. Mechanical technology is by
and large a blend of computational insight and actual machines (engines). Computational
insight includes the modified directions. The project proposes mechanical vehicle that has an
insight fabricated init to such an extent that it guides itself at whatever point a deterrent comes
in front of it. This mechanical vehicle is constructed, utilizing an Arduino uno. A ultrasonic
sensor is utilized to identify any snag in front of it and sends an order to the Arduino. In the
present world artificial intelligence and robotics technology is a quickly developing and
intriguing field. robot has adequate insight to cover the most extreme area of given space.
Independent Astute Robots will be robots that can perform wanted assignments in
unstructured conditions without persistent human direction. The deterrent recognition is
essential prerequisiteof this independent robot. The robot gets the data from encompassing
region through mounted sensors on the robot.

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 System Design

In our venture the result from the ultrasonic sensor is given to the Arduino uno regulator as
a contribution to deal with them as indicated by codes which are really installed into the
regulatorto give the ideal result. The block graph for the cycle is displayed in the figure.

Block diagram of obstacle sensing

robot process

Basic Block diagram

Ultrasonic sensor HC-SR04

The ultrasonic sensor is utilized for impediment identification. Ultrasonic sensor sends the
ultrasonic waves from its sensor head and again gets the ultrasonic waves reflected from an
item. There are numerous applications utilize ultrasonic sensors like guidance caution
framework, programmed entryway openers and so on. The ultrasonic sensor is exceptionally
minimal and hasan extremely high execution. It has both the transmitter and recipient. It
comprises of four pins Vcc pin to offer a 5V stock to the sensor, trigger pin gives a TTL beats
(15us), reverberation pin to get the result from the sensor and ground pin. Ultrasonic sensor
HC-SR04 is displayed in figure.

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 Ultrasonic Sensor HC-SR04

CIRCUIT DESCRIPTION –

The circuit is invigorated by 9V power supply, the HC-SRO4 module is associated with the
port of the 8051series, and the engine is likewise associated with the port A by means of
hand-offswitch. The circuit outline is shown.

An Ultrasonic sensor is used to sense the obstacles in the path by calculating the
distance between the robot and obstacle. If the robot finds any obstacle it changes the
direction andcontinue moving. Once the circuit is ready, we have to build our obstacle
avoiding car by assembling the circuit ontop of a robotic chassis.

Circuit Diagram of Obstacle Avoiding Robotic Vehicle

Circuit assembled over chassis with

tyresArduino Uno (ATMEGA 328P-PU) –

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Arduino uno is a very famous microcontroller board. It was developed on the basis of
ATMEGA328P-PU. It is a single chip microcontroller.
It has 14 digital input/output pins of which 6 can be used as PWM outputs, 6 analog inputs, a
16MHz quartz crystal, a USB connection, a power jack an ICSP header and a reset button

Its key parameters are shown below in the table.

The pin diagram of ATMEGA 328P-PU is shown below.

Working Principle –

Ultrasonic sensors are used by the obstacle avoiding robotic vehicle to avoid obstacles.
Utilizinga microcontroller from the 8051 family, the intended function is accomplished. A
motor driver integrated circuit microcontroller connects the motors.The robot's front is
where the ultrasonic sensor is mounted.The robot's ultrasonic sensor constantly broadcasts

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ultrasonic waves from its sensor head whenever it travels along the intended path. The
ultrasonic waves are reflected back from an object whenever an impediment moves in front
of it, and the microcontroller receives this information. Based on ultrasonic impulses, the
microprocessor regulates the left, right, back, and front motors. Pulse width modulation
(PWM) is used to regulate each motor's speed.

Applications –

 Obstacle avoiding robots can be used in almost all mobile robot navigation systems.

 They can be used for household work like automatic vacuum cleaning.

 They can also be used in dangerous environments, where human penetration could be fatal.

Conclusion –

After a thorough analysis of the before mentioned Arduino controller and ultrasonic sensor,
the HcSR-04 ultrasonic sensor was chosen for use in the produced automotive prototype
system dueto its satisfactory controlling results. It was employed to detect obstacles and
steer clear of them.By coding the obstacle avoidance algorithm in Python, the successful
execution of the method was also executed with few errors. One excellent application for
cars is obstacle avoidance, which can help to reduce the number of collisions and fatalities.

Acknowledgement –

We would like to thank all those who have directly or indirectly encouraged us to take
up thisproject.

References –

[1] https://en.wikipedia.org/wiki/Robotics

[2] https://www.academia.edu/download/56029992/IRJET-

V5I2457.pdf [3] https://www.mdpi.com/2075-1702/6/2/18

[4] http://eprints.abuad.edu.ng/744/

[5] https://link.springer.com/article/10.1007/s41870-020-00513-w

[6] https://ieeexplore.ieee.org/abstract/document/8688326/

[7] https://circuitdigest.com/microcontroller-projects/arduino-obstacle-avoding-robot

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