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Department of Electronics and Communication Engineering: Head of Deparment: Dr. Shelly Garg MENTOR: Mr. Shiv Narain Gupta

This document describes an obstacle avoiding robot project created by students using an Arduino, ultrasonic sensor, motors, and chassis. The robot can sense obstacles within 15cm using the ultrasonic sensor and avoid collisions by turning in the direction with more clearance. It continuously scans its surroundings and maneuvers around objects without hitting them. Potential applications of obstacle detection include mining vehicles, automatic cleaning robots, and assisting with braking systems in cars. The total cost of components for this project is approximately 2000 rupees.

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Sourabh Chakrabarty
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72 views

Department of Electronics and Communication Engineering: Head of Deparment: Dr. Shelly Garg MENTOR: Mr. Shiv Narain Gupta

This document describes an obstacle avoiding robot project created by students using an Arduino, ultrasonic sensor, motors, and chassis. The robot can sense obstacles within 15cm using the ultrasonic sensor and avoid collisions by turning in the direction with more clearance. It continuously scans its surroundings and maneuvers around objects without hitting them. Potential applications of obstacle detection include mining vehicles, automatic cleaning robots, and assisting with braking systems in cars. The total cost of components for this project is approximately 2000 rupees.

Uploaded by

Sourabh Chakrabarty
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

HEAD OF DEPARMENT: Dr. Shelly Garg


MENTOR: Mr. Shiv Narain Gupta
OBSTACLE AVOIDING ROBOT
USING
ULTRASONIC SENSOR
Project Members
• Tinku Gautam (1613231126)
• Sushma Rani(1613231123)
• Virendra Singh(1613231131)
• Sourabh Chakrabarty (1613231119)
Objective.-
To create a Arduino based Obstacle avoiding robot using ultrasonic
sensor.

What is an obstacle avoiding car?


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.
It is an Arduino based robot that uses Ultrasonic range finder sensors to
avoid collisions .
Components Required
• Arduino Uno
• Ultrasonic Sensor (HC-SR04)
• Motor Driver IC (LM293D)
• 2 x DC Motors (5V)
• Servo Motor(SG90)
• 2 x Wheels
• Robot Chassis
• Battery (9V)
• Jumper Wires
Component Description
Arduino Uno

The Arduino Uno is an open based microcontroller based on the microchip ATmega328p
Microcontroller . It can powered by the USB cable or an extra 9V battery ,though it accepts voltage between
7V to 20V.It has 14 digital I/O (input-output)pins and 6 analog input pins with a flash memory of 32kb and clock
speed 16MHz. It can be programmed with the help of Arduino IDE(Integrated Development Environment) software.
Ultrasonic Sensor(HCSR04)

Ultrasonic sensor is a 4 pin module,whose pin names are VCC,Trigger,Echo and ground.It needs an operating
voltage of 5V and operates at frequency upto 40KHz in which the trigger has to be made high for
10us(microsecond) to send the ultrasonic wave.It can measure distance from 2cm to 80cm.

Motor driver Module(L293D)

It is a motor driver which is used to control speed and direction of dc motors.It can work with dc motors
with voltage from 5V to 35V.
Servo Motor (SG90)

It is a simple servo motor which can rotate upto 90 degrees in each direction.It’s operating voltage is 5V and it
was 3 wire interface
Red wire- 5V
Brown wire- Ground
Yellow wire- Connected to Arduino pin for command
About Ultrasonic Wave
The basic principle behind the working of ultrasonic sensor is to note down the
time taken by sensor to transmit and receiving the ultrasonic beams after hitting
the surface and then using to determine the distance .Ultrasonic wave ranges
above 20KHz i.e above human audible range(20Hz to 20KHz) and wavelength is
less than 1.7cm.

Distance= (Speed of sound(343m/s)x Time taken by sensor to receive the signal)/2


How Ultrasonic sensor is used to avoid Obstacles
1. In this project ,we used most widely available HC-SR04 Ultrasonic
Sensor.
2. The Trig pin of HC-SR04 is made high for at least 10 microseconds.A
sonic beam is transmitted with 8 pulses of 40KHz each.The 8 cycles
of drive is related to the microprocessor timing driving the output
as the number of pulses influence the amplitude of received signal .
3. The signal then hits the surface and return back and captured by
receiver Echo pin had already made high at the time sending high.
4. The time taken by beam to return back is saved in variable and
converted to distance using appropriate calculations like below
Distance=(Time*Speed of Sound in Air(343 m/s))/2
Circuit Diagram
WORKING
• When the robot is powered on, both the motors of the robot will run
normally and the robot moves forward. During this time, the ultrasonic
sensor continuously calculate the distance between the robot and the
reflective surface
• This information is processed by the Arduino. If the distance between the
robot and the obstacle is less than 15cm, the Robot stops and scans in left
and right directions for new distance using Servo Motor and Ultrasonic
Sensor. If the distance towards the left side is more than that of the right
side, the robot will prepare for a left turn. But first, it backs up a little bit
and then activates the Left Wheel Motor in reversed in direction.
• Similarly, if the right distance is more than that of the left distance, the
Robot prepares right rotation. This process continues forever and the
robot keeps on moving without hitting any obstacle.
BLOCK DIAGRAM
APPLICATIONS
• Obstacle Detection can be used as a mining vehicle as it’ll help in
decreasing the workload of the mine workers.
• It can used as an automatic cleaning robot .
• Obstacle detection can also be implemented as a self parking feature or in
self driving cars.
• It can be used in motor vehicle as a braking system or alerting the driver if
any vehicle comes closer in a specific distance as it’ll help a lot of people
from avoiding car accidents.
• It is used in Military applications as it detects the distance from the target
so that they can avoid collisions from obstacles they don’t want to hit.
COST ANALYSIS
COMPONENTS COST
1. Arduino Uno 480₹
2. Ultrasonic Sensor(HC-SR04) 200₹
3. Motor Driver IC(L293D) 300₹
4. Servo Motor(SG90) 150₹
5. 5V DC Motor x 2 200₹
6. Robot Wheels x 2 100₹
7. Robot Chassis and jumper wires 300₹-400₹
and rest of the components
___________________________________________________
TOTAL 2000₹(approx.)

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