PROJECT PROGRESS REPORT:

OBSTACLE DETECTION AND LINE

FOLLOWING CAR WITH ARDUINO

DATE: 22-2-24
PROJECT OVERVIEW

 Our Arduino-based project aims to create a versatile robotic car capable

of both obstacle detection and line following functionalities. The primary
components include infrared sensors for obstacle detection and line-
following sensors to ensure precise navigation.
 PROJECT MILESTONES

 Obstacle Detection: Implemented infrared sensors to detect obstacles in the

car's path.Successfully calibrated sensor thresholds for reliable obstacle
detection.Integrated code to prompt the car to stop and navigate around
obstacles using motor control.
 Line Following: Utilized infrared sensors for line detection and
following.Developed algorithms to ensure smooth tracking of lines, adapting
to various line patterns.Implemented proportional-integral-derivative (PID)
control for precise adjustments during line following.
 Integration: Merged obstacle detection and line following functionalities
seamlessly.Fine-tuned the code to prioritize obstacle avoidance when both
features are activated simultaneously.Ensured robust communication between
sensors, actuators, and the Arduino controller.
 PROJECT MILESTONES
 Testing and Debugging: Conducted extensive testing in controlled
environments to validate obstacle detection and line following
accuracy.Identified and resolved issues related to sensor noise, false positives,
and motor control inconsistencies.Implemented a systematic debugging
process to enhance overall reliability.
 Challenges Faced: Initial challenges included sensor calibration for precise
obstacle detection.Fine-tuning the PID controller for optimal line following
posed challenges due to variations in track patterns. Debugging
communication issues between the sensors and Arduino required careful
attention.
 Next Steps:Evaluate the car's performance in diverse environments to ensure
adaptability.Implement additional features, such as Bluetooth control or
obstacle avoidance optimization.Document and optimize the code for better
readability and future modifications.
 C CODE

 Sensor Initialization: Set up and initialize sensors like infrared sensors

for line following and ultrasonic sensors for obstacle detection.
 Line Following: Implement a line-following algorithm using sensor
input to guide the car along a predefined path. Adjust motor speeds
based on sensor readings to keep the car centered on the line.
 Obstacle Detection: Use ultrasonic sensors to detect obstacles in the
car's path. Implement logic to stop, avoid, or navigate around obstacles.
 Motor Control: Develop functions to control the motors based on
input from the line-following and obstacle-detection modules.
 Main Loop: Create a main loop that continuously reads sensor inputs
and adjusts motor control accordingly. Include logic for handling
different scenarios, such as intersection detection or special maneuvers.
CONCLUSION
The project has made significant strides in achieving the dual objectives of
obstacle detection and line following. Thorough testing and continuous
refinement have enhanced the system's reliability. As we move forward, we
anticipate further improvements and expansions to make the robotic car a
versatile and adaptable solution.This progress report highlights key
achievements, challenges, and future steps in our Arduino-based obstacle
detection and line following car project.
INTRODUCTION
An Obstacle Detecting and Line Following Vehicle with Arduino
is a versatile robotic project that combines two essential
functionalities: detecting and avoiding obstacles in its path and
autonomously following a predefined line on the ground. This
project is a prime example of a smart and automated system
that can find applications in areas such as industrial automation,
logistics, and even in educational settings for teaching robotics
and programming.
The Obstacle Detecting and Line Following Vehicle is a robotic
platform designed to navigate autonomously while avoiding
obstacles and accurately tracking lines on the ground. It uses an
Arduino microcontroller as the brain of the system, which is
programmed to control the motors, process sensor data, and
make intelligent decisions.
BRIEFLY EXPLAIN THE
SIGNIFICANCE OF THE PROJECT
▶ Educational Purposes: It serves as an excellent learning tool for
individuals, especially students, to understand and apply concepts
of robotics, automation, and programming using Arduino. It helps
develop practical skills in electronics and programming.
▶ Problem-Solving Skills: It encourages problem-solving and critical
thinking as it involves developing algorithms for line following and
obstacle detection, which are common challenges in robotics.
▶ Automation: The project showcases the potential of automation
and autonomous navigation, which has real-world applications in
fields such as industrial automation, agriculture, and self-driving
vehicles.
SCHEMATIC DIAGRAM

[1] Tabassum, Faiza, et al. “Obstacle

avoiding robot.” Global Journal

Research in Engineering (2017).

• Safety and Efficiency: It demonstrates the importance of obstacle detection for safety
and efficiency in robotics and automation. This can be relevant in scenarios like
autonomous cleaning robots, warehouse automation, or even self-driving cars.
• STEM Engagement: The project can spark interest in science, technology, engineering,
and mathematics (STEM) disciplines, promoting engagement and innovation among
aspiring engineers and technologists.
• In summary, the "Obstacle Detecting and Line Following Vehicle with Arduino" project is
a valuable educational tool that helps individuals gain hands-on experience in robotics,
automation, and programming while showcasing the practical relevance of these
concepts in various real-world applications.
 OBJECTIVE
▶ Obstacle Detection: Implementing a system that can detect and avoid obstacles
in its path, ensuring the vehicle's safe operation by using sensors such as ultrasonic
sensors, infrared sensors, or cameras.
▶ Line Following: Developing a mechanism that enables the vehicle to follow a
predefined path or track, typically using a combination of sensors to detect lines
or markers on the ground.
▶ Autonomous Operation: Creating a vehicle that can operate autonomously, without
human intervention, by integrating control algorithms and decision-making logic.
▶ Real-time Control: Implementing real-time control systems to ensure the vehicle
can respond quickly to changing conditions, such as detecting obstacles or
deviations from the desired path.
COMPONENTS & CONNECTIONS.

[7] Rodríguez Arechabala, Opatz.

“Path planning robot with
obstacle

Avoidance.” (2022).
COMPONENTS
▶ These are the List of key components required for the project
▶ Arduino board
▶ Ultrasonic sensors
▶ Line following sensors
▶ Motor drivers
▶ Motors
▶ Chassis
▶ Wheels, etc.
RESULTS: OBSTACLE DETECTING
AND LINE FOLLOWING
VEHICLE WITH ARDUINO

[08] Khan, Burhan, et al. “A

Prototype of Obstacle Avoidance for

Autonomous Vehicle.” Iraqi Journal

of Science (2022): 2203-

2210.
CONCLUSION
 The project to create a "Detecting and Line Following Vehicle with Arduino"
is an exciting and educational endeavor that combines various elements of
robotics, electronics, and programming. This project aims to build a vehicle
that can autonomously follow a line while detecting obstacles in its path. In
this conclusion, we will summarize the key findings and outcomes of the
project:
 Purpose and Objectives: The primary goal of this project was to
design and develop a vehicle that could navigate a predefined path (line
following) while also being capable of detecting and avoiding obstacles.
This project successfully achieved this dual functionality by integrating
various sensors and components.
EXPECTED OUTCOMES:
▶ Learning Experience: One of the key outcomes of such
a project is the opportunity to learn about Arduino
programming, sensors, and robotics. It's an excellent way
to gain practical experience in these areas.
▶ Troubleshooting Skills: You'll likely encounter challenges
and issues along the way. Problem-solving and
troubleshooting are important outcomes of any project
like this.
▶ Customization: You can customize the vehicle's design,
chassis, and sensors to suit your
REFERENCE:
▶ Circuit Diagram
▶ Attach a motor driver shield onto the Arduino, connect the both motor's to
the l293d motor driver shield, connect the IR sensor to motor driver, connect
the servo motor to motor driver servo1 slot, and connect ultrasonic sensor
to motor driver.
▶ Line follower robot
▶ The line follower robot senses a black line by using a sensor and then sends
the signal to Arduino. Arduino drives the motor according to sensors' output.
▶ Obstacle detection
▶ An obstacle detection circuit was successfully implemented using infrared
and ultrasonic sensors modules which were placed at the front of the
robot. When a reflection is received, a low output is sent to the Arduino
microcontroller.
COST ANALYSIS
 Arduino Board: You'll need an Arduino board as the brains of your project. An
Arduino Uno or Arduino Nano is commonly used and can cost around $5 to $20.
 Motor Driver: A motor driver is required to control the motors that drive your
vehicle. You can find L298N motor drivers for around $2 to $5.
 Chassis and Wheels: The cost of the chassis and wheels can vary widely
based on your preferences and the quality you desire. A basic robot chassis might
cost around $10 to $20.
 DC Motors: The number of DC motors you need depends on your design. You
may need 2 for a basic line-following vehicle. DC motors can cost around $2
to $5 each.
 IR Sensors: Infrared sensors are commonly used for line-following and
obstacle detection. IR sensor modules can cost around $1 to $3 each.
Wires, Connectors, and Breadboard: These are essential for connecting and
prototyping your project. You can estimate around $5 to $10 for these components.
Miscellaneous Components: This includes things like screws, nuts, and spacers, which
can add another $5 to $10{832.65 rupees} to the project cost.

Ultrasonic Sensor: For obstacle detection, you might need an ultrasonic sensor like the
HC-SR04, which costs around $2 to $5.
Line Following Sensors: Line following sensors, like TCRT5000 modules, are used for
tracking lines. They can cost around $1 to $2 each.
Battery: The type and capacity of the battery will affect the cost. A rechargeable
18650 Li-ion battery and holder can cost around $5 to $10.
Wires, Connectors, and Breadboard: These are essential for connecting and
prototyping your project. You can estimate around $5 to $10 for these components.
Miscellaneous Components: This includes things like screws, nuts, and spacers, which
can add another $5 to $10{832.65 rupees} to the project cost.

TOTAL COST: 45${3746.94 rupees}

Wires, Connectors, and Breadboard: These are essential for connecting and
prototyping your project. You can estimate around $5 to $10 for these components.

Miscellaneous Components: This includes things like screws, nuts, and spacers, which
can add another $5 to $10{832.65 rupees} to the project cost.

Ultrasonic Sensor: For obstacle detection, you might need an ultrasonic sensor like the
HC-SR04, which costs around $2 to $5.

Line Following Sensors: Line following sensors, like TCRT5000 modules, are used for
tracking lines. They can cost around $1 to $2 each.

Battery: The type and capacity of the battery will affect the cost. A rechargeable
18650 Li-ion battery and holder can cost around $5 to $10.

Wires, Connectors, and Breadboard: These are essential for connecting and
prototyping your project. You can estimate around $5 to $10 for these components.

Miscellaneous Components: This includes things like screws, nuts, and spacers, which
can add another $5 to $10{832.65 rupees} to the project cost.

TOTAL COST: 45${3746.94 rupees}

THANK
YOU