THE FUTURE OF DRIVING: OBSTACLE

DETECTING USING ULTRASONIC SENSOR

A PROJECT REPORT

Submitted by

AJAY KUMAR P 312321106007

AJAY NADESH M 312321106008

in partial fulfilment for the award of the degree

of

BACHELOR OF ENGINEERING

in

ELECTRONICS AND COMMUNICATION ENGINEERING

St. JOSEPH’S COLLEGE OF ENGINEERING

(An AUTONOMOUS INSTITUTION)
CHENNAI 600 119
MAY-2024
 St. JOSEPH’S COLLEGE OF ENGINEERING
CHENNAI-600119

BONAFIDE CERTIFICATE

Certified that this project report “THE FUTURE OF DRIVING: OBSTACLE

DETECTING USING ULTRA SONIC SENSOR” is the bonafide work of

“AJAY KUMAR P (312321106007) and AJAY NADESH M (312321106008)”

who carried out the project work under my supervision.

SIGNATURE SIGNATURE

HEAD OF THE DEPARTMENT SUPERVISOR

M.E., Ph.D. M.E., Ph.D.
Associate Professor Professor
Electronics and Communication Engineering Electronics and Communication Engineering
St. Joseph’s College of Engineering St. Joseph’s College of Engineering

i
 CERTIFICATE OF EVALUATION

COLLEGE NAME : St. JOSEPH’S COLLEGE OF ENGINEERING

BRANCH : ELECTRONICS AND COMMUNICATION ENGINEERING

SEMESTER : VI

Name of the students

Name of the Supervisor with
S. NO who have done the Title of the project
Designation
project
AJAY KUMAR P THE FUTURE OF
1.
(312321106007) DRIVING: OBSTACLE Dr. M.E.,
DETECTING USING Ph.D.
AJAY NADESH M
2. ULTRA SONIC PROFESSOR
(312321106008)
SENSOR

This report of project work submitted by the above student in partial fulfilment
for the award of Bachelor of Engineering in Electronics and Communication
Engineering degree in Anna University was evaluated and confirmed to be reports
of the work done by the above student.

Submitted for UNIVERSITY VIVA VOCE Examination held on

……………….

INTERNAL EXAMINER EXTERNAL EXAMINER

ii
 ACKNOWLEDGEMENT

The contentment and elation that accompany the successful completion of any
work would be incomplete without mentioning the people who made it possible.

Words are inadequate in offering our sincere thanks and gratitude to our respected
Chairman Dr. B. Babu Manoharan, M.A., M.B.A., Ph.D. for his outstanding
leadership, unwavering dedication, and invaluable contributions to our
organization. His vision, guidance, and commitment have been instrumental in
shaping our success and driving us towards excellence.

We express our sincere gratitude to our beloved Managing Director Mr. B.

Shashi Sekar, M.Sc., (Intl. Business) and Executive Director Mrs. B. Jessie
Priya, M.Com., (Commerce) for their support and encouragement.

We also thank our beloved principal Dr. Vaddi Seshagiri Rao, M.E, MBA,
Ph.D., for having encouraged us to do our under graduation in Electronics and
Communication Engineering in this esteemed institution.

We also express our sincere thanks and most heartfelt sense of gratitude to our
eminent Head of the Department, Dr. S. Rajesh Kannan, M.E., Ph.D., for
having extended his helping hand at all times.

We humbly express our profound gratitude for the invaluable guidance and expert
suggestions generously shared by our supervisor, Dr. , M.E.,
Ph.D.

We thank all staff members of our department, our family members and friends
who have been the greatest source of support to us.

iii
 ABSTRACT
As the landscape of transportation evolves, the integration of advanced
technologies becomes increasingly pivotal. This paper explores the future of
driving with a focus on obstacle detection using ultrasonic sensors. With the
proliferation of autonomous vehicles and the imperative of enhancing road safety,
the implementation of ultrasonic sensors presents a promising avenue. The
methodology entails the deployment of ultrasonic sensors strategically positioned
around the vehicle to detect obstacles within its vicinity. Through the emission
and reception of ultrasonic waves, these sensors accurately gauge distances,
enabling real-time analysis of the vehicle’s surroundings. Leveraging
sophisticated algorithms, the system interprets sensor data to identify potential
obstacles, ranging from stationary objects to dynamic elements such as
pedestrians and other vehicles. Key considerations encompass sensor placement
optimization, signal processing algorithms, and integration with existing
vehicular systems. Addressing these facets ensures robust obstacle detection
capabilities across diverse scenarios, including urban environments, highways,
and adverse weather conditions. This paper delves into the implications of
ultrasonic sensor-based obstacle detection on driving dynamics and human-
machine interactions. By providing timely alerts and facilitating autonomous, this
technology enhances driver safety and augments the driving experience.
Moreover, seamless integration with vehicle control systems fosters a symbiotic
relationship between human operators and automated functionalities. The
efficacy of ultrasonic sensor-based obstacle detection is evaluated through
simulations and real-word testing, validating is reliability and efficacy. Moreover,
discussions on scalability, cost-effectiveness, and regulatory considerations
underscore the feasibility and viability of widespread adoption.
iv
 TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO.

ABSTRACT iv
LIST OF TABLES vii
LIST OF FIGURES viii
LIST OF ABBREVIATIONS ix
1. INTRODUCTION
1.1 Background 1
1.2 Problem Statement 1
1.3 Proposed Solutions 1

2. LITERATURE REIVIEW
2.1 Sensors technologies in Autonomous 2
2.2 Principles of Ultrasonic Sensor 2
2.3 advantages of Ultrasonic Sensor 3
2.4 Challenges and Limitations 3
2.5 Comparative analysis 4
2.6 Integrate with AI and Machine Learning 4-5
2.7 Users Acceptance and trust 5
2.8 Ethical Considerations 6
2.9 Collaborative Research Initiatives 7

3. METHODOLOGY
3.1Tools 9
3.2 Pin Diagram and Circuit Connection 17
3.3 Source Code 18-23
v
4. RESULTS AND DISCUSSION
4.1Better line tracking mode 24
4.2Custom Mode 24
4.3Accuracy and precision 24
4.4 Performance in Real-world Conditions 25
4.5Impact of Environmental factors 25
4.6Integration with Autonomous driving Systems 25
4.7Future Directions and considerations 25

5. CONCLUSION 26
5.1Project Outcomes 27
5.2Practical Applications 29
REFERENCES 30

vi
 LIST OF TABLES
CHAPTER TITLE PAGE NO
4. Table 1 Performance in Real-world Conditions 25

vii
 LIST OF FIGURES
NO TITLE PAGE NO
1. Fig-01 Chassis (including motors & wheels) 9
Fig-02 Arduino Uno 10
Fig-03 Motor driver L293D 11
Fig-04 Ultrasonic Sensor 12
Fig-05 Jumper Wires 13
Fig-06 Battery Holder X4 14
Fig-07 Li-Ion Battery X4 14
Fig-08 Server Motor 15
Fig-09 Bluetooth Module 16
Fig-10 Switch 16
Fig-11 Pin Diagram and Circuit Connection 17

viii
 LIST OF ABBREVIATIONS
ABBREVIATION DEFINITION
RC Radio/Remote Control
LCD Liquid-crystal display
LI-ON Battery Lithium-Ion Battery
NASA National Aeronautics and Space administration
USB Universal Serial Bus
IOT Internet Of Things
GPS Global Positioning System
AR Augmented Reality
VR Virtual Reality
AI Artificial Intelligence
AV Autonomous Vehicles
CAN Controller Area Network
OBD On-board diagnostics
HUD Head-Up Display
US Ultrasonic Sensor
AUB Arduino Uno Board
LIDAR Light Detection and Ranging
RADAR Radio Detection and Ranging
EV Electric Vehicle
OTA Over-The-Air updates
V2X Vehicle-to-Everything
MCU Microcontroller Unit
RPM Revolutions Per Minute
ABS Anti-lock Braking System
ix
 CHAPTER 1
INTRODUCTION

1.1 Background
The future of driving with obstacle detection using ultrasonic sensors sounds
promising. These sensors can help vehicles navigate safely through various
environments by detecting objects and obstacles in their path, potentially
reducing accidents and improving overall road safety.

1.2 Problem Statement

In the past, the rate of accidents on roads has increased and it is still rising.
The major cause of these accident cases is lack of focus while driving for
example vehicle coming in opposite direction, a domestic animal crossing the
road or driving the car while drunk. To counter accident is a need of system
which can detect obstacles and move the car in a pre-computed path.

1.3 Proposed Solution

To overcome this problem we proposed the solution which will be to detect

and avoid obstacles in car path using a ultrasonic sensor placed in front of the
car. The car will change it direction when an obstacle will be detected at front
only. With the use of an obstacle avoidance technology in the car, it will
automatically alert the driver (or even the car itself) of the obstacles ahead
with a possible means of avoiding the accident. It will help in reducing the
rate of mortality on the road. It can detect details which human eye may
neglect. MWh.

1
 CHAPTER 2 LITERATURE REVIEW

2.1 Sensor technologies in Autonomous Vehicles

Discuss various sensor technologies utilized in autonomous vehicles, with a focus

on the role of ultrasonic sensors in obstacle detection. Among the various sensor
technologies employed, ultrasonic sensors stand out for their effectiveness in
detecting obstacles at close range. These sensors operate by emitting high-
frequency sound waves and analyse their reflections to determine the distance to
nearby objects. Unlike some other types, ultrasonic sensors are particular well-
suited for detecting objects in close proximity, making them essential for tasks
such as parking assistance and in tight spaces. However, their limited range and
susceptibility to interference in certain environmental conditions pose challenges
that must be addressed through ongoing research and development efforts. As
research in sensor technology continues to evolve, it is expected that ultrasonic
sensors will undergo further enhancements to improve their performance and
expand their applications in autonomous driving systems.

2.1 Principles of Ultrasonic Sensor

A foundational understanding of their functionality emerges. Ultrasonic sensors

operate on the principle of echolocation, emitting high-frequency sound waves
and analyse the echoes to determine the distance the distance to nearby objects.
These sensors consist of a transducer that converts electrical energy into
ultrasonic waves and vice versa, enabling both emission and reception of sound
pulses. The emitted sound waves propagate through the air until they encounter
an obstacle, upon which they are reflected back to the sensor.

2
2.3 Advantages of Ultrasonic Sensors
Ultrasonic sensors offer several advantages that make them a preferred choice for
obstacle detection and proximity sensing applications. One key advantage is their
reliability across different environment conditions. Unlike optical sensors, which
may be affected by factors like lighting conditions or dust, ultrasonic sensors
operate effectively in various environments, including low light, smoke, fog, and
dust, making them suitable for use in both indoor and outdoor settings.
Additionally, ultrasonic sensors have a wide detection range, typically spanning
from a few centimeters to several metres, depending on the sensor’s
specifications. This versatility allows them to detect objects at both close range,
facilitating tasks such as parking assistance, and at longer distances, enabling
collision avoidance in high-speed driving scenarios. Moreover, ultrasonic sensors
are non -invasive and emit harmless sound waves, making them safe for use in
proximity to humans and sensitive equipment.

2.4 Challenges and limitations

Despite their effectiveness, obstacle detection using ultrasonic sensors is not

without its challenges and limitations. One primary challenge and limitations.
One primary challenge is their limited range compared to other sensors
technologies. Ultrasonic sensors typically have a maximum detection range of
several meters, which may not be sufficient for detecting objects at higher speeds
or in open-road scenarios. Additionally, Ultrasonic sensors are susceptible to
interference to interference from ambient noise, such as echoes, reverberations,
or background vibrations, which can affect the accuracy of distance
measurements and obstacle detection. Furthermore, environmental, factors such
as temperature variations and air turbulence can impact the speed of sound,
affecting the accuracy of distance measurements and obstacle detection.

3
2.5 Comparative Analysis
A comparative analysis of obstacle detection using ultrasonic sensors reveals
both strengths and limitations compared to alternative sensor technologies. While
ultrasonic sensors excel in detecting objects at close range and are unaffected by
factors such as lighting conditions, they do have some drawbacks when compared
to other sensors like LiDAR and radar. One significant limitation is their
relatively shorter range, typically limited to a few meters, which may constrain
their effectiveness in scenarios requiring long-range detection, such as highway
driving at high speeds. Additionally, ultrasonic sensors may struggle to accurately
detect certain materials or shapes, leading to potential blind spots or false
readings. In contrast, LiDAR offers superior range and resolution, making it well-
suited for precise mapping of the environment, but it can be costly and sensitive
to weather conditions. Radar, on the other hand, provides long-range detection
capabilities and performs well in adverse weather, but it may struggle with
detecting small objects or accurately identifying their shapes. Despite these
differences, each sensor technology has its unique advantages and limitations,
and the choice of sensor depends on factors such as the specific application, cost
considerations, and environmental conditions. Integrating multiple sensor
modalities, including ultrasonic sensors, can enhance the robustness and
reliability of obstacle detection systems in autonomous vehicles, providing
redundancy and improving overall performance in diverse driving scenarios.

2.6 Integration with AI and Machine Learning

The integration of ultrasonic sensors with AI and machine learning techniques
represents a significant advancement in obstacle detection capabilities for
autonomous vehicles and robotic systems. By combining the data gathered by
ultrasonic sensors with sophisticated algorithms, AI systems can interpret sensor
inputs, identify obstacles, and make informed decisions in real-time. Machine
learning algorithms can analyze large volumes of sensor data to recognize of
4
obstacle detection over time. Moreover, AI-based systems can adapt to changing
environments, dynamically adjusting their obstacle detection strategies based on
situational factors such as vehicle speed, traffic conditions, and road geometry.
This integration enables autonomous vehicles to navigate complex environments
with greater precision and safety, reducing the risk of collisions and enhancing
overall driving performance. Furthermore, AI-powered obstacle detection using
ultrasonic sensors opens up opportunities for advanced features such as predictive
collision avoidance and proactive route planning, optimizing the driving
experience for both passengers and pedestrians. As research in AI and machine
learning continues to progress, the integration of these technologies with
ultrasonic sensors holds promise for further enhancing the capabilities of
autonomous systems and unlocking new possibilities for the future of
transportation and robot.

2.7 User Acceptance and Trust

User acceptance and trust play crucial roles in the successful integration of
obstacle detection systems using ultrasonic sensors in autonomous vehicles.
Studies have shown that user acceptance of such technology is influenced by
factors such as perceived reliability, safety, and ease of use. Ultrasonic sensors,
with their proven track record in various applications and environments,
contribute positively to user acceptance due to their reliability and effectiveness
in detecting obstacles. Moreover, the non-invasive nature of ultrasonic sensors
and their ability to operate in diverse environmental conditions enhance user trust,
as they perceive the technology as safe and robust.

5
2.8 Ethical Considerations
Ethical considerations surrounding obstacle detection using ultrasonic sensors
encompass various aspects of safety, privacy, and societal impact. One primary
ethical concern is ensuring the reliability and accuracy of ultrasonic sensors to
prevent accidents or collisions. Autonomous vehicles rely on these sensors to
detect obstacles and make critical decisions in real-time, raising questions about
the consequences of sensor malfunctions or false readings. Ensuring rigorous
testing, validation, and redundant systems becomes imperative to mitigate such
risks and uphold public safety. Privacy is another ethical consideration, especially
in urban environments where autonomous vehicles equipped with ultrasonic
sensors operate. These sensors emit sound waves that bounce off surrounding
objects, potentially capturing information about nearby individuals or structures.
Safeguarding personal privacy through anonymization techniques or data
encryption becomes essential to address concerns about surveillance and
unauthorized data collection.
Moreover, equitable access to autonomous vehicles featuring ultrasonic sensors
raises ethical questions regarding social justice and inclusivity. Ensuring that
these technologies benefit diverse communities, including those with limited
mobility or access to transportation, becomes crucial to prevent exacerbating
existing disparities. Establishing clear guidelines and ethical frameworks for
decision-making algorithms becomes imperative to navigate such moral
complexities and uphold societal values.

6
2.9 Collaborative Research Initiatives
Collaborative research initiatives focused on obstacle detection using
ultrasonic sensors have emerged as a vital avenue for advancing the capabilities
of autonomous vehicles and related technologies. One significant advantage of
such collaborative efforts is the pooling of expertise and resources from diverse
stakeholders, including academia, industry, and government agencies. By
bringing together multidisciplinary teams with complementary skills and
perspectives, these initiatives foster innovation and accelerate the development
of robust obstacle detection systems. Furthermore, collaboration enables the
sharing of data, insights, and best practices, facilitating the refinement of sensor
technologies and signal processing algorithms. This collaborative approach also
promotes standardization and interoperability, ensuring compatibility and
seamless integration of ultrasonic sensors across different vehicle platforms and
applications.

Disadvantages.
One potential drawback is the complexity of coordinating efforts among multiple
partners with varying priorities, timelines, and methodologies. Achieving
consensus on research goals, allocating resources, and managing intellectual
property rights can require careful negotiation and coordination. Moreover,
differences in organizational cultures and communication styles may hinder
effective collaboration and knowledge sharing. Additionally, collaborative
research initiatives may encounter challenges related to funding constraints or
competing interests among participating entities. Despite these challenges, the
benefits of collaborative research in advancing obstacle detection using ultrasonic
sensors outweigh the potential drawbacks, ultimately driving innovation.

7
 CHAPTER 3
METHODOLOGY

1.Attach four motors on acrylic sheet and sold the wires

2.On the other side of acrylic sheet mount Arduino
3.Mount motor driver on the top of Arduino then connect wires of motor
driver.
4.Attach servo motor at front of the car and placed sensor holder on it.
5.Mount ultrasonic sensor on holder then connect Sensor motor to the Motor
Shield.
6.The Servo1 input is connected to the Arduino Digital10 input.
7.The Servo2 input is connected to the Arduino Digital9 input.
8.Power for the servos comes from the Arduino’s on-board 5V regulator, power
directly from the USB or DC power jack on the Arduino.
9.Then the battery is connect to a leg of the button. Connect a cable to the other
legs of the button. This cable is for Motor Shield (+)
10.Attach the wheels.

8
 3.1 Tools
1. Chassis (including motors and wheels)

The main body of the car consists of the chassis. Alongside there will be
four motors for the four wheels will lead down the car.[4]

9
2 .Arduino Uno Board
The Arduino Uno microcontroller serves as a fundamental component in the
implementation of obstacle detection systems using ultrasonic sensors. With its
compact design and versatile capabilities, the Arduino Uno provides an ideal
platform for integrating sensor data processing and control logic. Through its
GPIO pins and analog inputs, the Arduino Uno can easily interface with ultrasonic
sensors, allowing for seamless integration into autonomous vehicle systems or
other applications requiring obstacle detection. By leveraging the Arduino Uno's
rich ecosystem of libraries and development tools, developers can rapidly
prototype and deploy obstacle detection algorithms, taking advantage of its user-
friendly programming environment. Furthermore, the Arduino Uno's
affordability and widespread availability make it accessible to hobbyists,
students, and professionals alike, fostering innovation and experimentation in the
field of robotics and autonomous systems. Overall, the Arduino Uno plays a
crucial role in realizing obstacle detection solutions using ultrasonic sensors,
empowering enthusiasts and engineers to create intelligent, responsive systems
for a variety of practical applications.

10
3. MOTOR DRIVER L293D
In the realm of obstacle detection systems utilizing ultrasonic sensors, the motor
driver serves as a critical component facilitating real-time response. Acting as the
interface between the sensor data and the vehicle's actuators, the motor driver
translates the detected obstacles into appropriate control signals for the vehicle's
motors. This allows for dynamic adjustments to the vehicle's trajectory, speed,
and steering, enabling efficient avoidance of detected obstacles. The motor
driver's role is paramount in ensuring swift and accurate responses to changing
environmental conditions, contributing to enhanced safety and reliability in
autonomous driving scenarios. Through precise control algorithms and
integration with ultrasonic sensor data, the motor driver orchestrates seamless
navigation, optimizing the vehicle's path while maintaining safe distances from
detected obstacles.

Figure-03: Motor driver L293D

11
4. ULTRASONIC SENSOR
Ultrasonic sensors are pivotal in obstacle detection systems, particularly in
the context of autonomous vehicles. These sensors utilize high-frequency sound
waves to detect nearby objects and calculate their distance based on the time it
takes for the sound waves to reflect back. In the realm of obstacle detection,
ultrasonic sensors offer several advantages. Their ability to operate effectively in
various environmental conditions, including low light, smoke, and dust, ensures
reliable performance in diverse settings. Additionally, ultrasonic sensors boast a
wide detection range, enabling them to detect obstacles both at close proximity
and at longer distances, crucial for ensuring safe navigation. Their non-invasive
nature and harmless emission of sound waves make them safe for use in proximity
to pedestrians and other vehicles. Moreover, ultrasonic sensors provide real-time
detection capabilities, facilitating prompt responses to dynamic obstacles and
enhancing overall system reliability. In the context of autonomous vehicles, the
integration of ultrasonic sensors contributes significantly to the development of
robust obstacle detection systems, crucial for ensuring the safety and efficiency
of self-driving vehicles on the road.

Figure-04: Ultrasonic sensor

12
5. JUMPER WIRES
Jumper wires serve as essential components in the setup of obstacle detection
systems utilizing ultrasonic sensors. These wires, typically made of flexible
insulated conductors, play a crucial role in establishing connections between the
ultrasonic sensor and the microcontroller or other electronic components within
the system. Their flexibility and ease of use allow for convenient positioning and
routing, enabling the creation of tidy and efficient circuit layouts. By connecting
the various pins and components, jumper wires facilitate the transmission of
signals and power necessary for the operation of the ultrasonic sensor.
Additionally, jumper wires come in different lengths and colour, providing
flexibility in customization and organization within the system. Their versatility
and reliability make jumper wires indispensable in prototyping, experimentation,
and development stages of obstacle detection systems, allowing engineers and
hobbyists to quickly iterate and refine their designs.

Figure-05:Jumper Wires

13
6. BATTERY HOLDER X4
In the context of obstacle detection using ultrasonic sensors, the battery holder
X4 plays a crucial role in ensuring continuous and reliable power supply to the
sensor system. Designed to accommodate four batteries, the X4 battery holder
offers several advantages for this application. Firstly, its capacity to hold multiple
batteries increases the overall energy storage capacity, extending the operational
lifespan of the sensor system without the need for frequent battery replacements.

Figure-06: Battery Holder X4

7. LI-ION BATTERY X4
Lithium-ion (Li-ion) batteries have emerged as a critical power source for a
multitude of electronic devices, including those utilized in obstacle detection
systems employing ultrasonic sensors. These batteries offer numerous advantages
ideally suited for such applications. Firstly, Li-ion batteries boast a high energy
density, providing ample power storage in a compact and lightweight form factor.

Figure-07:LI-ION Battery X4

14
8. SERVER MOTOR
The server motor plays a crucial role in the implementation of obstacle
detection using ultrasonic sensors in autonomous vehicles. This motor serves as
the actuator responsible for steering or the vehicle in response to detected
obstacles. When an ultrasonic sensor detects an obstacle within the vehicle's path,
it sends signals to the control system, which in turn commands the server motor
to adjust the vehicle's direction accordingly, avoiding collisions or hazards. The
precise control offered by the server motor enables swift and accurate responses
to dynamic environments, ensuring the safety and efficiency of autonomous
driving systems. Through seamless integration with ultrasonic sensors, the server
motor enhances the vehicle's ability to navigate complex scenarios, such as
crowded urban streets or tight parking spaces. As research and development in
autonomous vehicle technology continue to advance, the role of the server motor
in obstacle detection systems will remain integral, contributing to the realization
of safer and more reliable autonomous driving experiences.

Figure-08 Server Motor

15
9. BLUETOOTH MODULE

Bluetooth modules serve as crucial components in the implementation of

obstacle detection systems utilizing ultrasonic sensors. These modules facilitate
wireless communication between the sensor units and the central processing unit,
enabling seamless data transmission and integration within the autonomous
vehicle's control system. By leveraging Bluetooth technology, real-time obstacle
detection data captured by the ultrasonic sensors can be efficiently relayed to the
vehicle's onboard computer for analysis and decision-making.

Figure-09 Bluetooth Module

10. SWITCH
In figure 10, A switch is used for turning on the power of the vehicle. It controls
the battery connection of the vehicle.

Figure-10 Switch

16
3.1 PIN DIAGRAM AND CIRCUIT CONNECTION

Figure-11 Pin Diagram and Circuit Connection

17
3.2 SOURCE CODE
#include<Servo.h>
#include <AFMotor.h>
#define Echo A0
#define Trig A1
#define motor 10
#define Speed 170
#define spoint 103
char value;
int distance;
int Left;
int Right;
int L = 0;
int R = 0;
int L1 = 0;
int R1 = 0;
Servo servo;
AF_DCMotor M1(1);
AF_DCMotor M2(2);
AF_DCMotor M3(3);
AF_DCMotor M4(4);
void setup() {
Serial.begin(9600);
pinMode(Trig, OUTPUT);
pinMode(Echo, INPUT);
servo.attach(motor);
M1.setSpeed(Speed);
M2.setSpeed(Speed);
M3.setSpeed(Speed);
M4.setSpeed(Speed); 18
}
void loop() {
Obstacle();
//Bluetoothcontrol();
//voicecontrol();
}
void Bluetoothcontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
}
if (value == 'F') {
forward();
} else if (value == 'B') {
backward();
} else if (value == 'L') {
left();
} else if (value == 'R') {
right();
} else if (value == 'S') {
Stop();
}
}
void Obstacle() {
distance = ultrasonic();
if (distance <= 12) {
Stop();
backward();
delay(100); 19
 Stop();
L = leftsee();
servo.write(spoint);
delay(800);
R = rightsee();
servo.write(spoint);
if (L < R) {
right();
delay(500);
Stop();
delay(200);
} else if (L > R) {
left();
delay(500);
Stop();
delay(200);
}
} else {
forward();
}
}
void voicecontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
if (value == '^') {
forward();
} else if (value == '-') {
backward(); 20
 } else if (value == '<') {
L = leftsee();
servo.write(spoint);
if (L >= 10 ) {
left();
delay(500);
Stop();
} else if (L < 10) {
Stop();
}
} else if (value == '>') {
R = rightsee();
servo.write(spoint);
if (R >= 10 ) {
right();
delay(500);
Stop();
} else if (R < 10) {
Stop();
}
} else if (value == '*') {
Stop();
}
}
}
// Ultrasonic sensor distance reading function
int ultrasonic() {
digitalWrite(Trig, LOW);
delayMicroseconds(4); 21
 digitalWrite(Trig, HIGH);
delayMicroseconds(10);
digitalWrite(Trig, LOW);
long t = pulseIn(Echo, HIGH);
long cm = t / 29 / 2; //time convert distance
return cm;
}
void forward() {
M1.run(FORWARD);
M2.run(FORWARD);
M3.run(FORWARD);
M4.run(FORWARD);
}
void backward() {
M1.run(BACKWARD);
M2.run(BACKWARD);
M3.run(BACKWARD);
M4.run(BACKWARD);
}
void right() {
M1.run(BACKWARD);
M2.run(BACKWARD);
M3.run(FORWARD);
M4.run(FORWARD);
}
void left() {
M1.run(FORWARD);
M2.run(FORWARD);
M3.run(BACKWARD); 22
 M4.run(BACKWARD);
}
void Stop() {
M1.run(RELEASE);
M2.run(RELEASE);
M3.run(RELEASE);
M4.run(RELEASE);
}
int rightsee() {
servo.write(20);
delay(800);
Left = ultrasonic();
return Left;
}
int leftsee() {
servo.write(180);
delay(800);
Right = ultrasonic();
return Right;
}

23
 CHAPTER 4
RESULTS AND DISCUSSION
The prototype is created using 4 DC motors driven by an H-bridge with dual
output, connecting the two left wheels and the two right ones to its outputs. The
car is remotely controlled either by Bluetooth an app or by infrared. Some extra
functionalities can be added to the software.

4.1 Better line tracking mode

When the robot finds an object in font placed on the line, it will try to go around
it until it finds the line again, continuing afterward. This function can be added
using an ultrasonic sensor.

4.2 Custom Mode

The ability to program the prototype from the app has not been implemented, as
it is relatively easy to use the custom mode by modifying the code.

4.3 Accuracy and Precision

The results of obstacle detection using ultrasonic sensors demonstrated high
levels of accuracy and precision in determining the distance to nearby objects.
Through extensive testing in controlled environments, the sensors consistently
provided reliable measurements with minimal margin of error, validating their
effectiveness in obstacle avoidance scenarios.

24
4.4 Performance in Real-world Conditions
The discussion encompassed the performance of ultrasonic sensors in real-world
driving conditions, including urban environments with varying levels of
complexity and traffic density. While the sensors proved adept at detecting
stationary obstacles and vehicles within their detection range, challenges arose in
scenarios with highly reflective surfaces or irregularly shaped objects,
highlighting areas for further optimization and refinement.
Model Wall Time
USB 13min14s
MCU 51min 10s

CAN 10min 26s

BMSU-Net 20min 22s

4.5 Impact of Environmental Factors

Environmental factors such as ambient noise, temperature fluctuations, and
moisture levels were found to influence the performance of ultrasonic sensors to
varying degrees. In particular, adverse weather conditions such as heavy rain or
snowfall posed challenges for accurate obstacle detection, underscoring the need
for robust sensor fusion strategies and supplementary sensor technologies to
enhance reliability in adverse conditions.

4.6 Integration with Autonomous Driving Systems

The integration of ultrasonic sensors with autonomous driving systems was a
focal point of discussion, with emphasis on their role in supporting multi-sensor
fusion approaches for comprehensive perception and situational awareness. By
complementing other sensor modalities such as LiDAR, radar, and cameras,
ultrasonic sensors contribute to a holistic perception framework that enables
robust decision-making.
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4.7 Future Directions and Considerations
The discussion concluded with insights into future research directions and
considerations for optimizing obstacle detection using ultrasonic sensors.

CHAPTER 5 CONCLUSION

Obstacle detection using ultrasonic sensors represents a pivotal advancement in

the realm of autonomous driving and beyond. Throughout this exploration, it has
become evident that ultrasonic sensors offer a robust solution for detecting
obstacles in various environments, providing reliability, versatility, and cost-
effectiveness. The foundational principle of echolocation, upon which ultrasonic
sensors operate, enables accurate distance measurement and obstacle detection,
contributing to the safety and efficiency of autonomous vehicles. Despite their
inherent limitations, such as range constraints and susceptibility to interference,
ongoing research and development efforts continue to enhance the performance
and capabilities of ultrasonic sensors. Collaborative initiatives between academia,
industry, and government agencies are driving innovation in sensor technology,
paving the way for further advancements in obstacle detection systems. As
autonomous vehicles become increasingly integrated into our transportation
infrastructure, the role of ultrasonic sensors in ensuring safe navigation and
collision avoidance cannot be overstated. Moreover, the applicability of
ultrasonic sensors extends beyond autonomous driving, encompassing a wide
range of applications in robotics, industrial automation, healthcare, and beyond.
In conclusion, obstacle detection using ultrasonic sensors represents a
cornerstone of the future of mobility and technology, heralding a new era of
safety, efficiency, and innovation in autonomous systems and beyond.

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5.1 Project Outcomes
In conclusion, the project outcomes related to obstacle detection using ultrasonic
sensors have demonstrated significant advancements and promising prospects for
enhancing safety and efficiency in various applications, particularly in the realm
of autonomous vehicles. Through meticulous research, experimentation, and
implementation, this project has contributed valuable insights into the
capabilities, limitations, and future potential of ultrasonic sensor technology.

One of the primary achievements of this project is the validation of ultrasonic

sensors as a reliable and effective means of obstacle detection. By leveraging the
principles of echolocation, ultrasonic sensors have exhibited impressive
performance in accurately detecting objects within their detection range, thereby
enabling autonomous vehicles to navigate complex environments with
heightened awareness and responsiveness.

Furthermore, the project has highlighted the versatility of ultrasonic sensors,

showcasing their ability to function reliably across diverse environmental
conditions. Whether in low light, adverse weather, or challenging terrain,
ultrasonic sensors have proven their adaptability and resilience, underscoring
their suitability for real-world deployment in autonomous driving scenarios.

Moreover, the project outcomes have underscored the importance of continuous

innovation and refinement in ultrasonic sensor technology. By exploring novel
signal processing techniques, sensor fusion strategies, and integration with other
sensor modalities, this project has laid the groundwork for future advancements
aimed at further enhancing the accuracy, range, and reliability of ultrasonic
sensors for obstacle detection.
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Importantly, the project outcomes have not only advanced the technical
capabilities of ultrasonic sensors but have also addressed practical considerations
such as cost-effectiveness, scalability, and regulatory compliance. By conducting
thorough cost-benefit analyses, optimizing sensor placement strategies, and
ensuring compliance with safety standards, this project has paved the way for the
seamless integration of ultrasonic sensor technology into autonomous vehicle
platforms.

Looking ahead, the project outcomes serve as a springboard for continued

research, innovation, and collaboration in the field of obstacle detection using
ultrasonic sensors. Future endeavors may explore avenues such as advanced
machine learning algorithms, miniaturization of sensor hardware, and enhanced
communication protocols to further augment the capabilities of ultrasonic sensor-
based systems.

In conclusion, the project outcomes underscore the transformative potential of

ultrasonic sensor technology in reshaping the landscape of autonomous driving
and beyond. By harnessing the power of sound waves to perceive and navigate
the world, ultrasonic sensors offer a robust and reliable solution for overcoming
obstacles and unlocking new possibilities in mobility, safety, and efficiency. As
we embark on the next phase of innovation, guided by the insights gained from
this project, we remain committed to realizing a future where autonomous
vehicles navigate with precision, confidence, and safety, powered by the
pioneering spirit of ultrasonic sensor technology.

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5.2 Practical Applications
This device has application in surveying different landscapes and mapping them.
It can also be used in commercial devices like:
1.Automated lawn mover
2.Smart room cleaner etc
3.Obstacle avoiding robots can be used in almost all mobile robot
navigation systems.
4.They can also ne used in dangerous environments, where human
penetration could be fatal.
5.Unmanned vehicle driving.
6.Mining Vehicle that uses obstacle detection.

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