PROJECT REPORT

On

OBSTACLE AVOIDANCE ROBOTIC VEHICLE

Submitted as curriculum work in degree of

BACHELOR OF TECHNOLOGY
in
MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

FACULTY OF TECHNOLOGY
DHARMSINH DESAI UNIVERSITY, NADIAD
 BONAFIDE CERTIFICATE
Certified that the project report titled “OBSTACLE

AVOIDANCE ROBOTIC VEHICLE” is the bonafide work

of under our supervision.

Prof. (Dr.) G. D. Bassan (Prof. Mahavirsinh M.

Chavda)
HEAD SUPERVISOR
Mechanical Engineering Department Assistant Professor
Faculty of Technology Mechanical Engineering
Department
Dharmsinh Desai University Faculty of Technology
College Road Dharmsinh Desai University
Nadiad – 387001 College Road
Gujarat Nadiad – 387001, Gujarat

Index
1. Abstract
2. Acknowledgement
3. List of figures
4. Introduction
 Problems faced
 Solutions offered
5. Components used
 Arduino uno
 IR sensors
 Controlling DC motors
 Wheels
 Robot Body
 Jump wires
6. Working principle
7. Codes
8. Applications
9. Final assembly
10. Conclusion
 ABSTRACT
Trajectory planning is one of the most important pivotal
point in pick and place tasks done by robotic manipulators.
In this work, we have presented a robot, which is compact,
autonomous and fully functional. This robot or a smartcar
is built to sense any obstacle in its path, to avoid it and
resume its running involving the pre-computation of an
obstacle free path. IR sensors were adapted to implement a
real-time obstacle avoidance system for wheeled robots, so
that the robot can continually detect surroundings, avoid
obstacles, and move toward the target area. This model has
tremendous applications in vacuum cleaners, avoiding
concealed paths, parking systems, assembling automobiles
and in chemical industries, in scientific exploration,
emergency rescue and in other isolated environments. We
use an Arduino UNO along with Stepper Motors to make the
vehicle, and for sensing we incorporate an IR Sensor which
accurately and efficiently detects any obstacles in the vehicle
path. The Arduino is coded such that the vehicle moves
backward when an obstacle arises in front of both the
sensors with a maximum limit of 3cms in ideal testing
conditions. In conclusion, through this project, we aim to
construct a vehicle that is beneficial to the quotidian
problems of the present generation.
 ACKNOWLEDGEMENT
In the present world of competition there is a race of existence in

which those are having will to come forward succeed. Project is like a

bridge between theoretical and practical working. With this willing I

joined this project. I am feeling oblige in taking the opportunity to

sincerely thanks to Dr. G.D. Bassan sir ( Head of Mechanical

Engineering Department,DDU) and special thanks to my worthy

faculty of Control Engineering Prof. M.M. Chavda sir (Mechanical

Engineering Department,DDU). I am thankful to all my faculty

members who helped us directy and undirecty in this project.

 LIST OF FIGURES
Page no.
1. Arduino uno microcontroller 06
2. DC motors 06
3. Sensors 06
4. Wheels 06
5. ROBOT BODY 06
6. Flow chart 10
7. Final assembly 11
 INTRODUCTION

 PROBLEMS FACED :-

 Need for a robot that can perform trajectory planning

effectively.

 Need for a system which can detect obstacles and

move in a pre-computed path.

 Need for the detection of obstacles that appear

suddenly o Need to minimize human risk regarding the
upper limit of a human eye.

 Need to assist the physically handicapped by

incorporating cutting edge technologies in wheelchairs.

 Need to address the need for upgrade from inaccurate

sensors like CCD cameras, CMOS image sensors, laser
light pens, global positioning systems, and so on .
 SOLUTIONS OFFERED:-

 Robot detects obstacles and avoids them in the

trajectory.

 Robot uses an Ultrasonic Sensor which is capable of

detecting obstacles which may appear suddenly, for
instance, an animal in front of a wheelchair.

 Robot can operate in the environment without much

interference.

 Robot can detect very minute details, which the human

eye may neglect.

 Robot can map various topographies and terrains.

 COMPONENTS

DC MOTOR IR SENSOR

ARDUINO UNO WHEEL

ROBOT BODY

WORKING PRINCIPLE

The obstacle avoidance robotic vehicle

uses IR sensors for its movements. The
motors are connected through motor driver
microcontroller.
The IR sensor is attached in front of robot.
Whenever the robot is going on desired path
the IR sensor transmits the waves
continuously from its sensor head. Whenever
an obstacle comes ahead of it the waves are
reflected back from an object and that
information is passed to the microcontroller.
The microcontroller controls the motors left,
right, back, front based on ultrasonic signals.
 CODES
// the setup function runs once when you press reset or power the board

void setup() {

// initialize digital pin LED_BUILTIN as an output.

pinMode(2, OUTPUT);//Motor 1 +

pinMode(3, OUTPUT);//Motor 1 -

pinMode(4, OUTPUT);//Motor 2 +

pinMode(5, OUTPUT);//Motor 2 -

pinMode(6, OUTPUT);//Sensor 1 VCC

pinMode(7, INPUT);//Sensor 1 Out

pinMode(8, OUTPUT);//Sensor 2 VCC

pinMode(9, INPUT);//Sensor 2 Out

digitalWrite(6, HIGH);

digitalWrite(8, HIGH);

Serial.begin(9600);

// the loop function runs over and over again forever

void loop() {

int sensorLeft = digitalRead(7);

int sensorRight = digitalRead(9);

if (sensorLeft == LOW && sensorRight == LOW) {

Serial.println("Forward");

digitalWrite(2, HIGH);
 digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, HIGH);

if (sensorLeft == LOW && sensorRight == HIGH) {

Serial.println("Left");

digitalWrite(2, HIGH);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, LOW);

if (sensorLeft == HIGH && sensorRight == LOW) {

Serial.println("Right");

digitalWrite(2, LOW);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, HIGH);

if (sensorLeft == HIGH && sensorRight == HIGH) {

Serial.println("Back");

digitalWrite(2, LOW);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, LOW);

delay(1000);

digitalWrite(2, LOW);
 digitalWrite(3, HIGH);

digitalWrite(4, HIGH);

digitalWrite(5, LOW);

delay(2000); // wait for 3 seconds

digitalWrite(2, HIGH);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, LOW);

delay(2000);

}
 APPLICATIONS
 The modification of this logic code is used in vacuum
cleaners.
 This robot can be used for avoiding concealed paths,
such as an industrial robot in a factory is expected to
avoid workers so that it won’t hurt them.
 It will be very useful in parking system.
 It can also be used in assembling automobiles and in
chemical industries.
 Obstacle avoiding robots can be used in almost all
mobile robot navigation systems.

FLOW CHART
FINAL ASSEMBLY
 CONCLUSION
The above arduino controller & sensor
where studied, as the controlling result are
satisfying for its use in automobile prototype
system being developed. It was used to
sense the obstacles & avoid them. Obstacle
avoidance is very good application to be
used in vehicle preventing many accidents &
loss of life.