Advanced Obstacle Avoidance Techniques for Arduino-based

Intelligent Vehicles
Shubham Nagina Rakshanda Sonekar Megha Zhodape
Department of Artificial Department of Artificial Department of Artificial
Intelligence Intelligence Intelligence
JD Collage of Engineering and JD Collage of Engineering and JD Collage of Engineering and
Management, Nagpur, India Management, Nagpur, India Management, Nagpur, India

Bisheshwar Yadav Prof. Supriya S. Sawwashere

Department of Artificial Department of Artificial
Intelligence Intelligence
JD Collage of Engineering and JD Collage of Engineering and
Management, Nagpur, India Management, Nagpur, India

Abstract— Robotics is a rapidly expanding and fascinating move. There are several highly well-liked navigation
field in the modern world. Because of its high level of techniques for smart cars, including wall following, edge
intelligence, a smart car can utilize all of the available space. recognition, line-following, and many others. Edge detection
This thesis presents the design and execution of a self driving, is a more generic and widely used approach for obstacle
obstacle-avoiding Smart Car that uses an ultrasonic wave avoidance. The requirement for the Smart Car to halt in front
sensor. The goal of the project is to create a Smart Car that can of an obstruction in order to obtain a more precise
move around obstacles by employing ultrasonic sensors. To measurement is a drawback of avoiding obstacles based on
carry out the needed procedure, an ATmega328 edge detection.
microcontroller is employed. A machine that can work All transportable Smart Cars have some form of
automatically or with instruction is referred to as a smart car. collision avoidance, which can range from simple algorithms
The proposal suggests a smart car that can self-steer when an to detect an obstruction and cause the Smart Car to halt to
impediment is in its way since it has intelligence built into it. prevent a collision to more complex algorithms that allow the
A microcontroller from the AT mega 328 series was used to Intelligent Car to detour barriers. The later algorithms are
construct this Smart Car vehicle. Any obstruction in front of it more complicated since they detect obstacles and perform
is detected by an ultrasonic sensor, which then sends an some kind of quantitative assessment of the obstacle's
instruction to the microcontroller. The microcontroller dimensions. Once these are identified, the obstacle avoiding
instructs the Intelligent Car to travel in a different direction algorithm must direct the Smart Car past the obstruction and
based on the signal that it receives by activating the motors then restart motion towards the original objective. The Smart
that are connected to it by a motor driver. The roadblock Car won't have to halt in front of an obstruction during
avoidance distance may be calculated by emitting pulses. We navigation thanks to the steering algorithm. A micro-
can simultaneously manage the steering to carry out the controller receives an instruction from an ultrasonic sensor
function of obstacle avoidance. The Smart Car has rear wheel when it detects an obstruction in front of it. Thus, Smart Cars
drive and front axle steering. Two electric motors using gear might be able to get around some of the above-discussed
reduction systems power two driving tires. Using an Arduino navigational issues and operate smoothly while avoiding
MCU microchip as the brains of the Smart Car's control collisions. if the IR sensor were used Infrared sensors use
system. We construct our Smart Car platform while achieving infrared radiation to gauge an object's distance.
positive experimental results through the design for both the
software and the hardware systems. II. PROBLEM FORMULATION
Keywords— Smart car , accidents detection , ultrasonic
Smart Car is part of Todays communication. In today’s
sensor, Arduino Controller, Application etc.
world ROBOTICS is fast growing and interesting field. It is
I. INTRODUCTION simplest way for latest technology modification. Now a day’s
communication is part of advancement of technology, so I
This Smart Car is intelligent enough to use all of the decided to work on ROBOTICS field, and design something
available space. It has an ultrasonic sensor that it uses to detect which will make human life simpler in today aspect. An
objects blocking the path of the smart car. It can move in a autonomous Smart Car is a car that is capable of moving on
specific direction to get around the obstruction in its way. To its own in an unknown and unstructured environment. An
make the Smart Car move, we used two D.C motors. The autonomous Smart Car is equipped with software
Smart Vehicle circuit is simple and compact to build. intelligence to sense its environment, detect obstacles in its
The Smart Car circuits' electronic components are readily path and move around an unknown environment overcoming
available and reasonably priced. avoidance of obstacles The the obstacles. There are many robotic designs that are
Smart Car is built to travel in an uncharted environment by employed in designing of autonomous Smart Cars. These
preventing crashes. avoiding obstacles The Smart Car detects designs are usually developed considering the physical
obstructions in its route, avoids them, and then continues to
environment in which the Smart Car has to be deployed. it is still an active area of robotics study. For the goal of mobile
There are autonomous Smart Cars like snake Smart Cars, robots, a variety of sensors and techniques for identifying and
walking Smart Cars, autonomous drones and autonomous avoiding obstacles have been presented in numerous earlier
Smart Car or rovers. publications. The created sensor systems and suggested
This SMART CAR has sufficient intelligence to cover the detection or avoidance algorithms have solid references
maximum area of provided space. It has an infrared sensor available.
which are used to sense the obstacles coming in between the Diverse approaches linked to this topic might be
path of SMART CAR. It will move in a particular direction categorized based on these created sensor systems. Aamir
and avoid the obstacle which is coming in its path. The main Attar, Aadi Ansari, Abhishek Desai, Shahid Khan, and
motto of designing such type of Smart Car or the technology Dipashri Sonawale have designed and developed "line
is that this technology can be used in today’s very fast follower and obstacle avoidance bot using arduino" to create
transportation to avoid the accident generally happen in an autonomous Smart Car that intelligently detects obstacles
congested by applying emergency break. If we use this in its path and navigates in accordance with the actions that
technology in the car or any vehicle, it will automatically user set for it. This system therefore offers an alternative to
sense the obstacles then it will take a side to the available free the current system by substituting robotic machinery for
space. An obstacle may be a living things or any object. trained labour, which in turn allows it to handle more patients
Autonomous Intelligent Smart Cars are Smart Cars that can with more accuracy and at a lower overall cost [1].
perform desired tasks in unstructured environments without Aniket D. Adhvaryu et al. have proposed that the
continuous human guidance. Thus, by using this technology "Obstacle-avoiding robot having IR and PIR movement
in vehicles we make the drive safe. Sensors" was created and built as a general wheeled
independent platform rather than for a specific mission. As a
III. OBJECTIVE result, it can be applied in the fields of education, research,
Following is a comprehension of the project's primary goals: and business. Students can use it to learn about the features
• In order to avoid obstacles, Without running into nearby of IR and PIR sensors, motor driving circuit design, signal
objects, the Smart Car can manoeuvre through an unknowing condition circuit design, programming a microcontroller
surroundings. using C++, and Arduino Uno 1.6.5 compiler. At the
• Based on a preset threshold distance, the Smart Car polytechnic level, research on obstacle-avoiding robots can
will be able to identify obstructions in its path. aid students in building communication skills, technical
• After spotting an obstruction, the Smart Car might proficiency, and collaboration. Such a robot's design is
choose on its own to change to a more open path. relatively adaptable, and different techniques can be used for
• During its operation, it wouldn't need any outside different implementations. It demonstrates that PIR detectors
guidance. are better capable of detecting people than IR sensors [2].
• It has a real-time capability for gauging the Vaghela et al.'s "Obstacle Avoidance Robotic
separation between itself and its surroundings. • It could work Vehicles Using Ultrasonic Sensor, Android, and Bluetooth in
well in an uncharted setting. Obstacle Detection" mentions the extensive research that has
been conducted regarding wireless gesture control of robots.
IV. LITERATURE SURVEY Under diverse operational and functional strategies, a variety
We reviewed different obstacle detecting Smart Car of approaches have been examined and analyzed, along with
mechanisms that have been built by a lot of students and other their benefits and drawbacks. The user friend liness,
practitioners that are in existence. For an autonomous mobile portability, and light weight of Android OS based
Smart Car performing a navigation-based task in a vague smartphones have therefore surpassed the sophistication of
environment, to detect and to avoid encountered obstacles is technology like programmable gloves, static cameras, etc.,
an important issue and a key function for the Smart Car body rendering them obsolete. Although recent studies in this area
safety as well as for the task continuity. Obstacle detection and have made wirelessly gesture controlling a common
avoidance in a real-world environment that appears so easy to occurrence, it still has to be given more collaborative
humans is a rather difficult task for autonomous mobile Smart attention in areas where it can be used, such as for household
Cars and is still a well-researched topic in robotics. In many appliances, wheelchairs, fake nurses, tabletop screens, etc
previous works, a wide range of sensors and various methods [3].
for detecting and avoiding obstacles for mobile robot purposes The "Obstacle Avoidance Robot" was created and
have been proposed. Good references related to the developed developed in Paul Kinsky. According to Quan Zhou, the
sensor systems and proposed detection and avoidance robot may be equipped with a few mechanical parts to add
algorithms can be found. two more features to its basic body, namely a laptop holder
We examined various obstacle detection systems for and a camera holder. The AT89S52 development board,
Smart Cars that have been created by numerous students and which was used to smoothly regulate the motors, was created,
other professionals. The detection and avoidance of produced, and tested on a big scale. For proper computer
encountered impediments is a crucial challenge for the body vision calibration, the very inexpensive cameras are fixed or
safety of the autonomous mobile Smart Car as well as on the adjusted on a camera holder. Users set up a serial
task continuity when performing a navigation-based activity communication channel using a USB port between the higher
in an ambiguous environment. While recognizing obstacles laptop and the smaller development board. The laptop will
and avoidance in the real world may seem simple to humans, notify the development board about the motor condition [4].
it is a challenging issue for autonomous mobility Smart Cars "Obstacle avoidance car" was created and developed the
Faiza Tabassum, et al., who noted that Obstacle Successful
obstacle detection and avoidance by the car. Simple steering
algorithms reduced the turning radius and successfully guided
the vehicle. In conclusion, the team successfully interfaced all
of the original scheduled components. IR pulse production
during timer interruptions. IR transceiver-based obstacle
detection. Servo system utilizing PWM. utilizing Lego and a
servo to steer [5].

V. CONCEPT AND METHODOLOGY

A. Block Diagram

Fig. 3. Flow chart of system

Fig.1. Block Diagram of system
VI. RESULTS & DISCUSSION
B. Working of system The above Arduino controller and ultrasonic sensor were
The goal of the project is to create an obstacle-avoiding studied and the HcSR-04 ultrasonic sensor was selected, as
Smart Car that moves by employing ultrasonic sensors. In the controlling result are satisfying for its use in the
order to carry out the requested operation, a single Arduino automobile prototype system bring developed. It was used to
uno is utilized. A device that can complete tasks automatically sense the obstacle and avoidance them. On successful
is a smart car. Robotics typically combines physical devices implementation of obstacle avoidance algorithm was
(motors) and computational intelligence. The instructions that successfully carried out too with minimal errors, by coding
are preprogrammed are part of computational intelligence. the algorithm in python. Obstacle avoidance is a very good
The proposal suggests using a Smart Car, a vehicle with application to be used in vehicle preventing many accidents
intelligence integrated into it that can steer itself around and loss of life.
obstacles. Using an Arduino Uno, this Smart Vehicle was This project developed an obstacle avoiding Smart Car
constructed. Any obstruction in front of it is detected by an to detect and avoid obstacles in its path. The Smart Car is
ultrasonic sensor, which then instructs the Arduino. Robotics built on the Arduino platform for data processing and its
is a rapidly expanding and fascinating field in the modern software counterpart helped to communicate with the Smart
world. Smart Cars are intelligent enough to use all of the Car to send parameters for guiding movement. For obstacle
available space. Robots that can complete desired tasks in detection three ultrasonic distance sensors were used that
unstructured conditions without constant human supervision provided a wider field of detection. The Smart Car is fully
are called autonomous intelligent smart cars. The major autonomous and after the initial loading of the code, it
requirement for an autonomous Smart Car is obstacle requires no user intervention during its operation. When
detection. The Smart Car uses mounted sensors to gather placed in unknown environment with obstacles, it moved
information from its surroundings. while avoiding all obstacles with considerable accuracy. In
order to optimize the movement of the Smart Car, we have
C. Flow Chart many considerations for improvement. However, most of
these ideas will cost more money and time as well. ıIn future
cameras can be used to detect the obstacle however, it is
better to get CCD or industrial use ones to get clear and fast
pictures. Even the ones we mentioned in the camera holder
part will be better because of the special software.
In this project we have developed a real time model that
can automatically shut off the engine automatically. Tests
found that this system is highly effective and it’s efficient in
testing the alcohol percentage of the Human beings and if it
crossed the threshold value the dc motor will stop working.
By fitting this alcohol sensor into the car. We can save the life
Fig. 2. Structural Diagram of the driver and also the remaining passenger.
The result is obtained for obstacle avoidance Smart Car
using Arduino, if the Smart Car 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 • This is the basic of all Smart Car and has a wide scope of
obstacle ultrasonic sensor is used. We used servo motor to extensions.
rotate the ultrasonic sensor. • Protect the human life.

Case 1: Without Alcohol Consumption IX. LIMITATIONS

If person did not found Alcoholic, Alcohol sensor send the • The performance of this Smart Car mainly de pends on the
signal to the microcontroller and microcontroller results its sensors and number of sensors.
output to LCD display : Alcohol is not detected , Car is ON. • The ultrasonic sensor used here is of commercial
Also Buzzer is silent and relay board is active the DC motor. application so it may easily undergo interference.

X. CONCLUSION
Today we are in the world of robotics. Knowingly or
unknowingly, we have been using different types of Smart
Cars in our daily life. The project is “obstacle detection and
the avoidance Smart Car” is practically proved by using the
Ultrasonic sensor for sensing the Smart Car, Motor Shield
Driver for the driving the dc motors, dc motor is used for the
movement of the Smart Car with the help of the Arduino
Microcontroller. A lot of factors determined the accuracy of
the Smart Car we designed. These factors were the
environmental phenomenon in which the Smart Car was
tested, the number of obstacles present making the test space
Case 2: With Alcohol Consumption
crowded or relatively less crowded the type and shape of the
If person is alcoholic alcohol sensor detect the alcohol, it gives
obstacle (the Smart Car is designed for a uniform shaped
signal to the microcontroller. Lcd display shows the output :
obstacle). These factors majorly affected the sensors. The
Alcohol detected , Car is Off.
accuracy of the Smart Car is dependent on the sensors used.
Buzzer start siren and relay board is active and stops DC motor
Thus, the nature of the sensor and its accuracy defined the
rotation
accuracy of my Smart Car.

XI. FUTURE SCOPE

To enable Smart Cars to be able to adapt to its environment is
an important domain of robotics research.
• Whether this environment be underwater, on land,
underground, in the air or in space.
• A fully autonomous Smart Car has the ability to
Work for an extended period of time without
intervention from human or a need for power supply.
• Avoid situations that are harmful.

The most effective method to increase the accuracy of my

The result is obtained for obstacle avoidance robot using Smart Car is the inclusion of better sensors, although the
Arduino, if the robot moves forward if any obstacle detect it project cost might increase but the accuracy will definitely
check for other directions and moves where there is no increase as well as the problem space where the Smart Car
obstacles it moves in forward direction, to sense the obstacle can be used. Better actuators will result in a faster and more
ultrasonic sensor is used. We used servo motor to rotate the efficient Smart Car.
ultrasonic sensor.
ACKNOWLEDGMENT
VII. APPLICATIONS We take this opportunity to express our profound gratitude
This tool may be used to map and survey a variety of terrain. and deep regards to Our Project Guide , Department of
It can also be applied to commercial products like automated Computer Engineering JD Collage of Engineering and
lawn mowers, smart room cleaners, obstacle avoidance Management, Nagpur, India which provided guidance and
systems, etc. Nearly all cellular Smart Car navigational space for us to complete this work.
systems support Smart Cars.
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