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Obstacle Avoidance Robot

This document describes an obstacle avoiding robot created using an Arduino microcontroller. It uses ultrasonic sensors to detect obstacles within a range of 2cm to 4m and a servo motor to rotate the sensors to scan the area. When an obstacle is detected within 15cm, the robot stops, scans left and right, and backs up and turns in the direction with more clearance to avoid collisions. Potential applications include automated vacuum cleaning, navigation systems, and operating in dangerous environments.

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nagasaikiran ponnapalli
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666 views9 pages

Obstacle Avoidance Robot

This document describes an obstacle avoiding robot created using an Arduino microcontroller. It uses ultrasonic sensors to detect obstacles within a range of 2cm to 4m and a servo motor to rotate the sensors to scan the area. When an obstacle is detected within 15cm, the robot stops, scans left and right, and backs up and turns in the direction with more clearance to avoid collisions. Potential applications include automated vacuum cleaning, navigation systems, and operating in dangerous environments.

Uploaded by

nagasaikiran ponnapalli
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Obstacle Avoiding Robot using

Arduino
A simple project on Obstacle Avoiding Robot is designed here. Robotics is
an interesting and fast growing field. Being a branch of engineering, the
applications of robotics are increasing with the advancement of technology.

The concept of Mobile Robot is fast evolving and the number of mobile
robots and their complexities are increasing with different applications.

There are many types of mobile robot navigation techniques like path
planning, self – localization and map interpreting. An Obstacle Avoiding
Robot is a type of autonomous mobile robot that avoids collision with
unexpected obstacles.

In this project, an Obstacle Avoiding Robot is designed. It is an Arduino


based robot that uses Ultrasonic range finder sensors to avoid collisions. 
Help us in selecting the next DIY Arduino Project. : Select your Favourite
Project»
Table of Contents
 Circuit Diagram
 Hardware Required
 Component Description
o Arduino Uno
o HC – SR04
o L293D
o Servo Motor 
 Design of Obstacle Avoiding Robot using Arduino
 Working
 Applications
Circuit Diagram
 

Hardware Required
 Arduino Uno  [Buy Here]
 Ultrasonic Range Finder Sensor – HC – SR04  
 Motor Driver IC – L293D  [Buy Here]
 Servo Motor (Tower Pro SG90)  
 Geared Motors x 2 
 Robot Chassis  
 Power Supply 
 Battery Connector
 Battery Holder
Component Description
Arduino Uno
Arduino Uno is an ATmega 328p Microcontroller based prototyping board.
It is an open source electronic prototyping platform that can be used with
various sensors and actuators.

Arduino Uno has 14 digital I/O pins out of which 6 pins are used in this
project.

HC – SR04
It is an Ultrasonic Range Finder Sensor. It is a non-contact based distance
measurement system and can measure distance of 2cm to 4m.
L293D
It is a motor driver which can provide bi-directional drive current for two
motors. 

Servo Motor 
The Tower Pro SG90 is a simple Servo Motor which can rotate 90 degrees
in each direction (approximately 180 degrees in total).  

Design of Obstacle Avoiding Robot using Arduino


Arduino is the main processing unit of the robot. Out of the 14 available
digital I/O pins, 7 pins are used in this project design.

The ultrasonic sensor has 4 pins: Vcc, Trig, Echo and Gnd. Vcc and Gnd
are connected to the +5v and GND pins of the Arduino. Trig (Trigger) is
connected to the 9th pin and Echo is connected to 8th pin of the Arduino
UNO respectively. 

A Servo Motor is used to rotate the Ultrasonic Sensor to scan for obstacles.
It has three pins namely Control, VCC and GND. The Servo Control Pin is
connected to pin 11 of Arduino while the VCC and GND are connected to
+5V and GND.  
L293D is a 16 pin IC. Pins 1 and 9 are the enable pins. These pins are
connected to +5V.  Pins 2 and 7 are control inputs from microcontroller for
first motor. They are connected to pins 6 and 7 of Arduino respectively.

Similarly, pins 10 and 15 are control inputs from microcontroller for second
motor. They are connected to pins 5 and 4 of Arduino. Pins 4, 5, 12 and 13
of L293D are ground pins and are connected to Gnd.

First motor (consider this as the motor for left wheel) is connected across
the pins 3 and 6 of L293D. The second motor, which acts as the right wheel
motor, is connected to 11 and 14 pins of L293D.

The 16th pin of L293D is Vcc1. This is connected to +5V. The 8th pins is
Vcc2. This is the motor supply voltage. This can be connected anywhere
between 4.7V and 36V. In this project, pin 8 if L293D is connected to +5V
supply. 

NOTE: The power supply to the Motor Driver i.e. Pins 1 (enable 1), 8
(VCC2), 9 (enable 2) and 16 (VCC1) should be given a seperate power
supply.

Motor Driver boards are available with on – board 5V voltage regulator. A


similar one is used in the project. 

If the above Circuit Diagram of the Obstacle Avoiding Robot is unclear, the
following image might be helpful. 
Working
Before going to working of the project, it is important to understand how the
ultrasonic sensor works. The basic principle behind the working of
ultrasonic sensor is as follows:

Using an external trigger signal, the Trig pin on ultrasonic sensor is made
logic high for at least 10µs. A sonic burst from the transmitter module is
sent. This consists of 8 pulses of 40KHz.

The signals return back after hitting a surface and the receiver detects this
signal. The Echo pin is high from the time of sending the signal and
receiving it. This time can be converted to distance using appropriate
calculations.
The aim of this project is to implement an obstacle avoiding robot using
ultrasonic sensor and Arduino. All the connections are made as per the
circuit diagram. The working of the project is explained below.

When the robot is powered on, both the motors of the robot will run
normally and the robot moves forward. During this time, the ultrasonic
sensor continuously calculate the distance between the robot and the
reflective surface.

This information is processed by the Arduino. If the distance between the


robot and the obstacle is less than 15cm, the Robot stops and scans in left
and right directions for new distance using Servo Motor and Ultrasonic
Sensor. If the distance towards the left side is more than that of the right
side, the robot will prepare for a left turn. But first, it backs up a little bit and
then activates the Left Wheel Motor in reversed in direction. 

Similarly, if the right distance is more than that of the left distance, the
Robot prepares right rotation.  This process continues forever and the robot
keeps on moving without hitting any obstacle.

NOTE

 As the project is based on Arduino, the programming is very easy


and can be easily modified.
 Doesn’t require the Arduino Motor Shield.
 When using a 9V battery, at least 2 such batteries are needed to
power the robot. It is better to use 2 9V batteries (one for Arduino,
Ultrasonic sensor, Servo Motor and the other one for L293D and
motors).
 The Ultrasonic sensor should not be connected directly to power
supply as it might affect the normal performance.
 Instead of ultrasonic sensor, an IR transmitter – receiver pair can
also be used.

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.

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