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    Obstacle Avoiding Robot Using Ultrasonic Sensor

    Uploaded by

    ANIL KUMAR CSTSERVICES
    This document describes how to build an obstacle avoiding robot using an Arduino microcontroller and ultrasonic sensor. The robot uses the ultrasonic sensor to measure the distance to obstacles in front of it. If an obstacle is detected within 30 cm, the robot reverses, turns, and continues moving. The robot is able to navigate autonomously in unknown environments by avoiding collisions with obstacles using input from the ultrasonic sensor. The document provides the components needed, how the ultrasonic sensor works to detect obstacles, code to control the robot's movement, and the results - an autonomously navigating robot that can avoid obstacles.

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    © All Rights Reserved
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    Obstacle Avoiding Robot Using Ultrasonic Sensor

    Uploaded by

    ANIL KUMAR CSTSERVICES
    219 views10 pages
    This document describes how to build an obstacle avoiding robot using an Arduino microcontroller and ultrasonic sensor. The robot uses the ultrasonic sensor to measure the distance to obstacles in front of it. If an obstacle is detected within 30 cm, the robot reverses, turns, and continues moving. The robot is able to navigate autonomously in unknown environments by avoiding collisions with obstacles using input from the ultrasonic sensor. The document provides the components needed, how the ultrasonic sensor works to detect obstacles, code to control the robot's movement, and the results - an autonomously navigating robot that can avoid obstacles.

    Original Description:

    arduino uno

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    This document describes how to build an obstacle avoiding robot using an Arduino microcontroller and ultrasonic sensor. The robot uses the ultrasonic sensor to measure the distance to obstacles in front of it. If an obstacle is detected within 30 cm, the robot reverses, turns, and continues moving. The robot is able to navigate autonomously in unknown environments by avoiding collisions with obstacles using input from the ultrasonic sensor. The document provides the components needed, how the ultrasonic sensor works to detect obstacles, code to control the robot's movement, and the results - an autonomously navigating robot that can avoid obstacles.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    219 views10 pages

    Obstacle Avoiding Robot Using Ultrasonic Sensor

    Uploaded by

    ANIL KUMAR CSTSERVICES
    This document describes how to build an obstacle avoiding robot using an Arduino microcontroller and ultrasonic sensor. The robot uses the ultrasonic sensor to measure the distance to obstacles in front of it. If an obstacle is detected within 30 cm, the robot reverses, turns, and continues moving. The robot is able to navigate autonomously in unknown environments by avoiding collisions with obstacles using input from the ultrasonic sensor. The document provides the components needed, how the ultrasonic sensor works to detect obstacles, code to control the robot's movement, and the results - an autonomously navigating robot that can avoid obstacles.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 10

    OBSTACLE AVOIDING ROBOT USING

    ULTRASONIC SENSOR

    By:
    G.ANIL KUMAR

    IN ASSOSCIATION WITH

    CST SERVICES

    1
    OBSTACLE AVOIDING ROBOT USING ULTRASONIC
    SENSOR

    Aim: Build an Obstacle avoiding robot using Arduino and Ultrasonic Sensor.

    Introduction:

    Obstacle Avoiding Robot is an intelligent device which can automatically sense the
    obstacle in front of it and avoid them by turning itself in another direction. This design allows the
    robot to navigate in unknown environment by avoiding collisions, which is a primary
    requirement for any autonomous mobile robot.

    The application of Obstacle Avoiding robot is not limited and it is used in most of the
    military organization now which helps carry out many risky jobs that cannot be done by any
    soldiers.

    Components Required:

     Arduino UNO
     Ultrasonic Sensor Module HC-SR04
     ROBOT Chassis complete with screw
     DC Motors
     L293D IC
     Wheels
     Bread Board
     Connecting wires
     Power supply or Power bank

    Arduino UNO:

    Arduino is an open-source micro-controller device. It is an educational development


    board which is mainly used for developing different kind of projects which is equipped with
    digital and analog pins.

    It can be powered by using a power cable or by external 9v battery. For developing


    different projects using Arduino UNO board we use software called “Arduino”.

    2
    Arduino UNO

    Ultrasonic Sensor:

    An Ultrasonic sensor is used to sense the obstacles in the path by calculating the distance
    between the robot and obstacle. If robot finds any obstacle it changes the direction and continues
    moving.

    How Ultrasonic Sensor can be used to Avoid Obstacles:

    Before going to build the robot, it is important to understand how the ultrasonic sensor
    works because this sensor will have important role in detecting obstacle.

    The basic principle behind the working of ultrasonic sensor is to note down the time
    taken by sensor to transmit ultrasonic beams and receiving the ultrasonic beams after hitting the
    surface. Then further the distance is calculated using the formula. In this project, the widely
    available HC-SR04 Ultrasonic Sensor is used.

    Ultra sonic sensor

    3
    So, the Trig pin of HC-SR04 is made high for at least 10 us. A sonic beam is transmitted with 8
    pulses of 40 KHz each.

    The signal then hits the surface and returns back and captured by the receiver Echo pin of
    HC-SR04. The Echo pin had already made high at the time sending high.

    The time taken by beam to return back is saved in variable and converted to distance
    using appropriate calculations like below.

    Distance= (Time x Speed of Sound in Air (343 m/s))/2

    4
    L293d Motor Driver Module:
    The L293d Motor Driver Module is responsible for providing the necessary drive current to the motors of the
    robotic car.

    L293D Motor Driver

    Connections:

    Motor Driver to Arduino:

    L293D Motor Driver Arduino

    A1 Digital pin 4

    A2 Digital pin 5

    B1 Digital pin 6

    B2 Digital pin 7

    VCC Vin

    GND GND

    5
    UltraSonic Sensor to Arduino:

    UltraSonic Sensor Arduino

    Trig Digital pin 9

    Echo Digital pin 10

    Vcc 5v

    GND GND

    Buzzer to Arduino:

    Buzzer Arduino

    Positive(+) Digital pin 12

    Negative GND

    DC MOTOR L293D MOTOR DRIVER

    DC MOTOR1 Positive(+) OUTPUT PIN MA 1

    DC MOTOR1 Negative(-) OUTPUT PIN MA 2

    DC MOTOR2 Positive(+) OUTPUT PIN MA 1

    DC MOTOR1 Negative(-) OUTPUT PIN MA 2

    6
    Procedure:
    Connect Arduino uno using a cable wire

    Connect the motors to motor shield

    Connect the motor driver to Arduino board

    Connect Bluetooth Module to the Arduino Board

    After giving all the connections compile and Execute the program

    Check the output or Result

    Code:

    #define BUZZER 16
    #define TRIGGER 12
    #define ECHO 11
    void setup() {

    Serial.begin (9600);
    pinMode(TRIGGER, OUTPUT);
    pinMode(ECHO, INPUT);
    pinMode(3,OUTPUT);
    pinMode(4,OUTPUT);
    pinMode(5,OUTPUT);

    7
    pinMode(6,OUTPUT);// Open serial monitor at 9600 baud to see ping results.

    void loop() {

    long duration, distance;


    digitalWrite(TRIGGER, LOW);
    delayMicroseconds(2);

    digitalWrite(TRIGGER, HIGH);
    delayMicroseconds(10);

    digitalWrite(TRIGGER, LOW);
    duration = pulseIn(ECHO, HIGH);
    distance = (duration/2) / 29.1;
    if (distance < 30)
    {

    Serial.println("B");
    digitalWrite(3,LOW);
    digitalWrite(4,HIGH);
    digitalWrite(5,HIGH);
    digitalWrite(6,LOW);
    delay(2000);
    digitalWrite(3,HIGH);
    digitalWrite(4,LOW);
    digitalWrite(5,HIGH);
    digitalWrite (6,LOW);
    delay(2000);
    digitalWrite(3,HIGH);
    digitalWrite(4,LOW);
    digitalWrite(5,LOW);
    digitalWrite(6,HIGH);
    }
    else

    8
    {

    Serial.println("f");
    digitalWrite(3,HIGH);
    digitalWrite(4,LOW);
    digitalWrite(5,LOW);
    digitalWrite(6,HIGH);
    } delay(500);

    RESULT:

    In loop() function, get the distance from HC-SR04 and based on the distance move the
    motor direction. The distance will show the object distance coming in front of the robot. The
    Distance is taken by bursting a beam of ultrasonic up to 10 us and receiving it after 10us.

    If the distance is greater than the defined distance means there is not obstacle in its path
    and it will moving in forward direction.

    If the distance is less than the defined distance to avoid obstacle means there is some
    obstacle ahead. So in this situation robot will stop for a while and move backwards after that
    again stop for a while and then take turn to another direction.

    9
    OBSTACLE AVOIDING ROBOT

    So this is how a robot can avoid obstacles in its path without getting stuck
    anywhere. Find the complete code and video below.

    10

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