International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 05 Issue: 02 | Feb-2018 www.irjet.net p-ISSN: 2395-0072

OBSTACLE AVOIDANCE ROBOTIC VEHICLE USING ULTRASONIC SENSOR,

ARDUINO CONTROLLER
R.VAIRAVAN [1], S.AJITH KUMAR [2], L.SHABIN ASHIFF[3], C.GODWIN JOSE [4]
1,2,3UG Student, Dept. of Mechanical Engineering, PSN College of Engineering and Technology, Tirunelveli.
4 Assistant Professor, Dept. of Mechanical Engineering, PSN College of Engineering and Technology, Tirunelveli.
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Abstract - This project describes about an obstacle travelling time of ultrasonic waves is 343m/s. This much of
avoidance robot vehicle which is controlled by ultrasonic speed is meticulous for MCU’s in microcontroller to measure
sensor. The robot is made using ultrasonic sensor and it is accurately. Practically the waves reflect back from the
controlled by Arduino microcontroller. Ultrasonic sensor fixed surface located 4 meters away in 15 ns. The ultrasonic wave
in front portion of the robot vehicle. The sensor gets the data does not affect the humans. The ultrasonic sensor is mostly
from surrounding area through mounted sensors on the robot. used for distance measurement application. These sensors
The sensor is sense the obstacle and deviate its path to choose are able to detect the barriers present in front of them.
an obstacle free path. The sensor will be send the data to the Ultrasonic sensors generate sound waves with higher
controller is compared with controller to decide the movement frequencies that humans cannot perceive, making them ideal
of the robot Wheel. The robot wheel movement and direction for quiet environments. They do not consume much
will be based on the sensing of the ultrasonic sensor and also electricity, are simple in design, and are relatively
using a wheel encoder. This vehicle is used for detecting inexpensive. The basic block diagram is shown in fig. 1.
obstacle and avoiding the collision. We have programmed the
controller to be used with ANDROID app.

Key Words: Obstacle, Microcontroller, Ultrasonic sensor,

Arduino, Encoder

1.INTRODUCTION

The project is designed to build an obstacle avoidance

robotic vehicle using ultrasonic sensors for its movement. An
Arduino uno is used to achieve the desired operation. A
robot is a machine that can perform task automatically.
Fig -1: Basic Block diagram
Robotics is generally a combination of computational
intelligence and physical machines (motors). Computational
intelligence involves the programmed instructions. The 3. SYSTEM DESIGN
project proposes robotic vehicle that has an intelligence built
in it such that it guides itself whenever an obstacle comes In our project the output from the ultrasonic sensor is given
ahead of it. This robotic vehicle is built, using an Arduino to the Arduino uno controller as an input to process them
uno. An ultrasonic sensor is used to detect any obstacle according to codes which are actually embedded into the
ahead of it and sends a command to the Arduino. controller to provide the desired output. The block diagram
for the process is shown in Fig.2.
)n today’s world robotics is a fast growing and
interesting field. robot has sufficient intelligence to
cover the maximum area of provided space. Autonomous
Intelligent Robots are robots that can perform desired tasks
in unstructured environments without continuous human
guidance. The obstacle detection is primary requirement of
this autonomous robot. The robot gets the information from
surrounding area through mounted sensors on the robot.

2. SPECIALITIES OF ULTRASOUND TECHNOLOGY

The ultrasonic sensor is one of the best technique which

is used for sense for obstacle. The Ultrasonic sensor module
(C-SR works on Echo concept which is something you
Fig -2:Block diagram of obstacle sensing robot process
get when sound reflects back after reaches the surface. The

© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 2140
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 02 | Feb-2018 www.irjet.net p-ISSN: 2395-0072

3.1. Ultrasonic sensor HC-SR04 motor is also connected to the port A via relay switch. The
circuit diagram is shown in Fig. 5.
The ultrasonic sensor is used for obstacle detection.
Ultrasonic sensor transmits the ultrasonic waves from its
sensor head and again receives the ultrasonic waves
reflected from an object.

There are many application use ultrasonic sensors like

instruction alarm system, automatic door openers etc. The
ultrasonic sensor is very compact and has a very high
performance. It has both the transmitter and receiver. It
consists of four pins Vcc pin to offer a 5V supply to the
sensor, trigger pin give a TTL pulses (15us), echo pin to get
the output from the sensor and ground pin. Ultrasonic
sensor HC-SR04 is shown in Fig. 3

Fig -5: Circuit diagram for ultrasonic sensor and controller

using Arduino controller

4.1. MOTOR DRIVE MODULE (L298D)

The L298N H-bridge module can be used with motors

that have a voltage of between 5 and 35v dc. With the
module used in this tutorial, there is also an onboard 5V
regulator, so if your supply voltage is up to 12V you can also
Fig -3:Ultrasonic Sensor HC-SR04 source 5V from the board. The Motor drive module diagram
as shown in fig. 6
3.2. Timing Diagram

The Timing diagram is shown below in Fig. 4. The ultrasonic

sensor emits the short and high frequency signal. These
propagate in the air at the velocity of sound. If they hit any
object, then they reflect back echo signal to the sensor. The
ultrasonic sensor consists of a multi vibrator, fixed to the
base. The multi vibrator is combination of a resonator and
vibrator. The resonator delivers ultrasonic wave generated
by the vibration. The ultrasonic sensor actually consists of
two parts; the emitter which produces a 40kHz sound wave
and detector detects 40kHz sound wave and sends electrical
signal back to the microcontroller.

Fig -6: Motor drive module diagram

4.2. CONTROLLING DC MOTORS

H-Bridge L298N module is used to control one or two DC

motors is quite easy. First connect each motor to the motor A
and B connections on the L N. )f you’re using two motors
for a robot (etc) ensure that the polarity of the motors is the
same on both inputs. Next connect your power supply – the
positive to pin 4 on the module and negative/GND to pin 5. If
Fig -4:Timing Diagram you supply is up to 12V you can leave in the 12V jumper and
5V will be available from pin 6 on the module. This can be
4. CIRCUIT DESCRIPTION fed to your Arduino’s V pin to power it from the motors
power supply. Don’t forget to connect Arduino GND to pin
The circuit is excited by 9V power supply, the HC-SRO4 on the module as well to complete the circuit.
module is connected to the port A of the 8051series, and the

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Volume: 05 Issue: 02 | Feb-2018 www.irjet.net p-ISSN: 2395-0072

Now you will need six digital output pins on your Arduino, 4.3.3. ATMEGA 328P pin diagram
two of which need to be PWM (pulse – width Modulation)
pins. PWM pins are denoted by the tilde ~ next to the pin Atmega328P is a 28 pin microcontroller. It has 14 digital I/O
number, for example finally, connect the Arduino digital pins, of which 6 can be used as PWM outputs and 6 analog
output pins to the driver module. In our example we have input pins. These I/O pins account for 20 of the pins.The pin
two DC motors, so digital pins D9, D8, D7 and D6 will be configuration is shown in Fig. 7.
connect to the pins IN1, IN2, IN# and IN4 respectively. Then
connect D10 to module pin 7 and D5 to module pin 12.The
motor direction is controlled by sending a HIGH or LOW
signal to the drive for each motor or channel.

However the motors will not turn until a HIGH is set to the
enable pin and they can be turned off with a low to the same
pin. However if you need to control the speed of the motors,
the PWM signal from the digital pin connected to the enable
pin can take care of it.

4.3. ORDUINO UNO

Arduino uno is a microcontroller board dased on the

ATmega328P(datasheet). It has 14 digital input/output pins
of which 6 can be used as PWM outputs, 6 analog inputs, a 16
MHz quartz crystal, a USB connection, a power jack an ICSP
header and a reset button

4.3.1. ATMEGA 328P-PU

Atmega328 is a single chip microcontroller created by

ATMEL in the mega AUR family A common alternative to the
ATmega is the pico power ATmega P. The most Fig -7:Pin configuration of atmega328P-PU
common implementation of this is on the popular Arduino microcontroller
development platform, namely the Arduino UNO or Arduino
Nano models. 5. WORKING PRINCIPLE

4.3.2. Key Parameter The obstacle avoidance robotic vehicle uses ultrasonic
sensors for its movements. A microcontroller of 8051 family
Atmega 328P-PU Key parameters as shown in table. 1 is used to achieve the desired operation. The motors are
connected through motor driver IC microcontroller.
Table -1: Key parameter
The ultrasonic sensor is attached in front of the robot.
PARAMETER VALUE Whenever the robot is going on the desired path the
CPU type 8-bit AVR ultrasonic sensor transmits the ultrasonic waves
Performance 20 MIPS at 20 MHz continuously from its sensor head. Whenever an obstacle
Flash memory 32 kB comes ahead of it the ultrasonic waves are reflected back
SRAM 2 kB from an object and that information is passed to the
EEPROM 1 kB microcontroller. The microcontroller controls the motors
Pin count 28-pin PDIP, MLF,32- left, right, back, front based on ultrasonic signals. In order to
pin TQFP, MLF control the speed of each motor pulse width modulation is
Maximum operating 20 MHz used (PWM).
frequency
Number of touch channel 16 6. APPLICATION


Hardware Q Touch No
Acquisition Obstacle avoiding robots can be used in almost all
Maximum I/O pins 23 mobile robot navigation systems.


External interrupts 2
USB Interface No They can be used for household work like automatic
USB Speed - vacuum cleaning.

© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 2142
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 02 | Feb-2018 www.irjet.net p-ISSN: 2395-0072

 They can also be used in dangerous environments,

where human penetration could be fatal.

7. CONCLUSION

The above Arduino controller and ultrasonic sensor were

studied and the HcSR-04 ultrasonic sensor was selected, as
the controlling result are satisfying for its use in the
automobile prototype system bring developed. It was used
to sense the obstacle and avoidance them. On successful
implementation of obstacle avoidance algorithm was
successfully carried out too with minimal errors, by coding
the algorithm in python. Obstacle avoidance is a very good
application to be used in vehicle preventing many accidents
and loss of life.

ACKNOWLEDGMENT

We would like to thank all those who have directly or

indirectly encouraged us to take up this project.

REFERENCES

[1] Chatelais Q., Vultur (, and Kanellis E., Maze Solving by

an Autonomous Robot , Aalborg University, 2014.

[2] International Journal of Computer Applications, 2012,

vol. 56, no. 5, pp. 8-13.

[3] Mishra S., and Bande P., Maze Solving Algorithms for
Micro Mouse , IEEE International Conference on Signal
Image

[4] Dang (., Song J., and Guo Q., An Efficient Algorithm for
Robot Maze-Solving , in Proceedings of the Second

[5] Gims M., M)CROMOUSE: Microprocessor Controlled

Vehicle, University of East London, London, .

[6] https://create.arduino.cc/projecthub/albertoz/obstacle
-avoiding-robot-fb30e4

[7] https://en.wikipedia.org/wiki/Robotics

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