OBSTACLE-AVOIDING ROBOT USING ARDUINO

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

 Dandla Srikanth Markanti Ramesh Kalakoti Ravi Teja Dr.G.Dhanalakshmi
Electronics and Electronics and Electronics and Electronics and
communication communication communication communication
Engineering Engineering Engineering Engineering
Ashoka instiute of Ashoka instiute of Ashoka instiute of Ashoka instiute of
Engineering and Engineering and Engineering and Engineering
Technology Technology Technology Hyderabd, India
(Affiliation of JNTU) ( Affiliation of JNTUH) ( Affiliation of JNTUH) ( Affiliation of JNTUH)
Hyderabd, India Hyderabad,India Hyderabd,India dharjun@mail.com
srikanthdandla873@gmail. rameshmarkanti77@gmail. ravitejakalakoti999@gmail
com com .com
Abstract— Obstacle avoidance is the best way to embody
the feature of intelligent robot system. To solve the
problem of obstacle avoiding robot , best model is used
in this paper . Adopting multi – sensors data technology
and obstacle avoiding algorithm based on fuzzy control.
Obstacle detection, finding pattern and avoiding obstacle
are the main function of the design. It communicates
with the ultrasonic sensors and motors through
controller. To avoid collisions with unexpected
obstacles ,it uses ultrasonic range finder for detection
and mapping. Basically, These are two types based on
obstacle avoidance. Those are model-based and sensor-
based methods. In a model based, one uses in Artificial
intelligence to find free path using search algorithms. In
a sensors based system, the sensed data is recorded in
grid map.
Key words: obstacle avoidance, mobile robot, ultrasonic
sensor, Arduino Controller, interface module for robot
I. INTRODUCTION
Robotics is works based upon design, construction,
operation, and application of robots. Robots have become
more useful in bringing comfort to humans. The robot is
defined as the one programmable by a computer. the ability
of a robot to detect obstacles is called Obstacle Avoidance.
They are using robots only in heavy industries such as in
factories and food processing factories. Human-following
robots have been widely researched and developed by many
universities and corporations around the world, because of
its advantages and useful applications in our daily life.
It will help to learn about physics when dealing with IR
sensors, electromagnetic spectrum, and embedded
computing while making the robot.
The project helps the students who are new in the world
of Arduino and help them to understand about embedded
system, IR sensors, microcontroller and how to make a
robot using Arduino. It will make students learn more about
basic knowledge and skills regarding program and
mathematics to calculate program values.
Obstacle Avoiding Robot is a device if the obstacle occurs
then it automatically senses the obstacles and avoid them by
turning itself in another direction. This project allows the
robot to navigate 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.
II. LITERATURE REVIEW
Robots need varied sensors to obtain information about
the world around them. Sensors will helps in the detecting
position, velocity, acceleration and range for the object in
the robot's workspace. There is a different types of sensors
used to detect the range of an object. One of the most
common range finders is the ultrasonic electrical device.
Vision systems are also used to greatly improve the robot’s
versatility, speed, and accuracy for their complex and
difficult task. Varun et al. developed obstacle avoidance
equipped with a pan-tilt mounted vision system. In this case,
the robot uses images obtained from a monocular and
monochrome camera to detect and avoid obstacles in a
dynamic environment. Kim et al. presented the detection of
moving obstacles (particularly walking humans) using a
single camera attached to a mobile robot. Detection of the
object that moves near the robot is searched by block-based
motion estimation. Shoval et al. described the use of a
mobile robot obstacle avoidance system as a guidance
device for blind and visually impaired people. Electronic
signals will send to a mobile robot’s motor controllers and
auditory signals can give guidelines to the blind traveler
around the obstacles. Kumar proposed an alternative design
for a cost-effective and simplified version of the obstacle
avoidance robot using three ultrasonic sensors.
III. Working
Hardware design:
The system consists of the Power supply unit, IR led /
receiver sensor pair, Ultrasonic Sensor, Arduino
Microcontroller and the Geared DC Motors.
A. Ultrasonic Sensor
Here an Ultrasonic sensor is used to sense the
obstacles in the path by calculating the distance between the
robot and obstacle. If the robot finds any obstacle it changes
the direction and continues moving. The basic principle
behind the working of the ultrasonic sensor is to note down
the time taken by the sensor to transmit ultrasonic beams
and receiving the beams after hitting the surface.
B. Arduino Microcontroller
The Arduino Uno is a controller based on the
ATmega328. It consists of 14 digital input/output (I/O) pins
(6 of the pins can be used as PWM outputs), 6 analog
inputs, a 16 MHz ceramic resonator. Arduino is a popular
programmable board used to create new projects. It consists
of a hardware platform and free source code editor which
has a “one-click compile or upload” feature.

C. Infrared Sensor
An infrared sensor is an electronic device that detects
radiation in order to sense some object of its surroundings. It
can measure the heat of an object. Infrared light is EM
radiation with longer wavelengths than those of visible light,
extending from the nominal red edge of the visible spectrum
at 700nm to 0.1mm.
This range of wavelengths corresponds to a frequency range
of approx. 430 THz down to 300 GHz
Design
Arduino is the main processing unit. Out of the 14
digital I/O pins, 7 pins are used in this design.The ultrasonic
sensor has 4 pins: Vcc, Trigger and Ground. Vcc and
Ground are connected to the +5v and Ground pins of the
Arduino. Trigger is connected to the 9th pin and
surrounding waves echo is connected to 8th pin of the
Arduino UNO respectively.
A Servo Motor is used to rotate
and the Ultrasonic Sensor to scan for obstacles. It has three
pins namely Control, Vcc and Ground. The Servo Control
Pin is connected to pin 11 of Arduino while the Vcc and
Ground are connected to +5V and Ground[4].
L293D is a 16 pin IC. Pin 1 and
pin 9 are the enable pins. These pins are connected to +5V.
Pins 2 and 7 are control inputs from microcontroller for
motor. Similarly, pin10 and pin15 are control inputs from
microcontroller for second motor. They are connected to
pin5 and pin4 of Arduino Uno. Pins 4, 5, 12 and 13 of
L293D are ground pins and are connected to ground. First
motor is connected across the pins 3 and 6 of L293D. The
second motor, which acts as the right wheel motor is
connected to pin11 and pin14 of L293D.
Vcc1 is connected to +5V. The 8th pin is Vcc2.
Vcc2 is the motor supply voltage. This can be connected
anywhere between 4.7V and 36V
Block Diagram
. CONCLUSION
Infrared Light
The band of light which is a thousand times wider
than that of visible light is defined as Infrared light. The
light with wavelength from 0.7 µm to 0.1 mm is called
Infrared Light. As our eyes cannot see the light with
wavelength longer than 7 × 10-5 µm, thus IR light is
invisible to the human eye[8].
Because the Infrared light is not detectable for the
human eyes, it is chosen for this purpose. The relation
between frequency and wavelength is given by the
equation:
f = v/λ
here,
f = Frequency
v = Speed of light c = 3 x 108 m/s
λ = Wavelength
Frequency is measured in Hz = 1/seconds
Data Collection
Data collection was possible through the
use of two different sensors that were placed to read data
from nature and send digital information to the
microcontroller which reads the data and carries out the
necessary instructions are designed by the users. The
sensors are used to collect data include the IR sensor
module and the Ultrasonic sensor. The IR sensor module
consists of an IR emitter and receiver placed side by side
and when the reflection is received the IR receiver sends
a low output and sends a high output when the input
signal is received[11]. Hence, the two IR sensors module
is placed at the bottom of the framework to face the
ground and monitor above the grass level for any
obstacle on the path that the robot should be following,
an IR sensor module is also placed in front of the robot as
an obstacle detecting when an obstacle is on the path. A
single Ultrasonic Sensor is also placed on top of the robot
high enough to follow the footpath of the lawn to avoid
hitting the lawn, the microcontroller reads the distance of
the footpath from the ultrasonic sensor and turns right
and left after each time it reaches the end of the wall.
Signal Processing
The outputs from all these sensors used on the board
are all connected to the Arduino microcontroller board. Since
the data collected from the sensors are digital i.e. the IR
sensor module sends a high bit signal when no reflection
occurs[]. These are the input devices used in the vehicle
avoiding system and since they are digital, they are
connected to the pins of the Arduino. This data can be
received from the sensors, the Arduino microcontroller is
able to decide on what decisions to make with the data using
a set of instructions that have been saved into the memory.
The output devices in control by the Arduino microcontroller
and dc motors to control the direction of the robot.
Almost all navigation robot demands some sort of obstacle
detection, hence obstacle avoidance strategy is of most
importance. Obstacle Avoidance Robot has a broad
application. They can be used as working robots, for the
purpose of housework and so many other applications.
Equally, they have great importance in scientific research and
emergency rescue, impossibly dangerous places for humans
to reach directly, then we should use robots to help us. In
those challenging environments, robots need to gather
information about their surroundings to avoid obstacles.
Nowadays, even in ordinary environments, people require
robots to detect and avoid obstacles.
Acknowledgement
We would like to thank all those who are encouraged us to
take up this project.
REFERENCES
1. Steven F. Barrett, “Embedded Systems Design and
Applications with the 68HC12 and HCS12”, pp.346-
349 , 2005
2. Joseph L.Jones, “Mobile Robots: Inspiration to
Implementation”,AK Peters, 1999
3. Chatelais Q., Vultur H, and Kanellis E., “Maze Solving
by an Autonomous Robot”, Aalborg University, 2014.
4. J. Seja and M. Banshidhar. 2013. Obstacle detection and
avoidance by a mobile robot. National Institute of
Technology, Rourkela. B.Sc. thesis. pp. 1-9.
5. Obstacle avoidance robotic vehicle using ultrasonic
sensors for obstacle detection :
http://www.elprocus.com/obstacle-avoidancerobotic-
vehicle/
6. IEEE paper for Obstacle avoidance robot using
ultrasonic sensors:
http://www.personal.umich.edu/~ykoren/uploads/O
bstacle_avoidance_w_ultrasonic_sensors_IEEE.pdf
7. L. Navarro-Serment, C. Paredis and P. Khosla. 1999. A
beacon system for the localization of distributed robotic
teams. Proceedings of the International Conference on
Field and Service Robotics. pp. 232- 237.
8. Gray, K. W. (2000). Obstacle Detection and Avoidance
for an Autonomous Farm Tractor. Utah State University.
9. Shahdib, F., Ullah, M. W., Hasan, M. K., & Mahmud, H.
(2013). Obstacle Detection and Object Size
Measurement for Autonomous Mobile Robot using
Sensor. International Journal of Computer Applications,
66(9), 28-33.
10. Chatelais Q., Vultur H, and Kanellis E., “Maze Solving
by an Autonomous Robot”, Aalborg University, 2014.
11. DEVELOPMENT OF AN ARDUINO-BASED OBSTACLE
AVOIDANCE ROBOTIC SYSTEM FOR AN UNMANNED
VEHICLE by Kolapo Sulaimon Alli, Feb 2018