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Collision Avoidance Using Iot: Shiv Swarup, Shreyas M.S., Saathvik R. Khatavkar, Varun H.H., Rama Satish K. V
Collision Avoidance Using Iot: Shiv Swarup, Shreyas M.S., Saathvik R. Khatavkar, Varun H.H., Rama Satish K. V
Shiv Swarup1*, Shreyas M.S.2, Saathvik R. Khatavkar3, Varun H.H. 4, Rama Satish K. V.5
1
Department of Electronics and Communication, RNS Institute of Technology, Bengaluru, India
5
Department of Master of Computer Applications, RNS Institute of Technology, Bengaluru, India
Abstract—Vehicular collisions are one of the major sources of deaths and injuries. The number of accidents are increasing at a
high rate and the main objective of this paper revolves around the solution to the vehicular collisions using IoT. The concept of
IoT in the field of vehicular automation is continuously evolving day by day and the development of Smart vehicles has
reduced the number of collisions. This paper mainly aims at enabling wireless communication between the vehicles through
IoT and thereby reducing the probability of vehicular collision by the help of Braitenberg and modified Braitenberg algorithm.
Braitenberg vehicles are a special class of autonomous agents which are embodied systems that behave in real world without
any human control. This paper approaches the ideas of Braitenberg algorithm which is reactive when it perceives the sensory
information and helps in collision avoidance. The results showed the enhanced performance of the smart vehicles based on
results from the simulator Vrep.
Keywords—Internet of Things(IoT) , Vrep, Pioneer, Ultrasonic sensor, Wireless transceiver, Braitenberg Algorithm
I. INTRODUCTION
Section I contains a brief introduction to collision avoidance,
T he Internet of Things (IoT) is an emerging technology
rendering connectivity. It can be referred as
Section II contains the software and hardware requirements,
Section III contains the simulated results and discussions,
interconnection of various devices to form a network, which Section IV contain the conclusions and future improvements
can virtually communicate with each other and actuates that can be implemented.
accordingly. IoT encompasses many different outlooks of life
ranging from homes and cities to automobiles and roads.
Collision Avoidance using IoT is one of the automotive II. HARDWARE AND SOFTWARE REQUIREMENTS
applications of IoT. The parameters that can be taken into a. Vrep
considerations in automotive application for collision V-Rep is the simulator tool that stands for Virtual Robot
between vehicles are “Object Detection” and “Obstacle Experimentation Platform. It was developed by Coppelia
Detection”. Robotics which is an Integrated Development Environment
Most of the road accidents occurring nowadays are due to based open source. It also provides a platform for Robotic
the human error. In case of human driving, eyes act as a simulations which includes Lua based libraries for all the
sensor and take the input from the real world and provide it components. V-Rep can also be coded using C, C++, Python,
to the brain. Further the brain processes this and based on the Lua, MATLAB, and Octave.
obstacle, it sends a backsignal to apply the brakes
accordingly. The response of the driver to the obstacle should b. Lua
be immediate, else it leads to collision. Lua is light weight, multi-paradigm programming
In the world, we live there is an increase in demand for language specially designed for embedded application. This
smart and connected vehicles. Autonomous driving has been scripting language was developed in 1993 by Robert
a field in which continuous researches are taking place i.e. Lerusalimschy and mainly focuses on improving the speed,
driving can take place without human or with less human
extensibility, portability and ease of use in development. Lua
efforts. In this process, “Advanced Driver Assistance System
is a cross platform, since the interpreter of compiled byte
(ADAS)” helps the driver in safeguarding from vehicular
collisions. Thus it is developed to automate, adapt and code is written in ANSI C.
enhance vehicle systems for safety and better driving.Many
algorithms have been developed in order to avoid c. Pioneer
collision,thereby alerting the driver or avoiding the collision The Pioneer P3-DX is a compact differential-drive
by taking control over the vehicle. mobile robot which integrates Ultrasonic sensors as shown in
"Braitenberg” algorithm is one of the them used for Fig.1.It consists of 16 sensors out of which 8 sensors exist in
collision avoidance. In this paper, the main aim is to modify the front and rear end respectively. It is a programmable
Braitenberg algorithm in order to avoid collision between mobile robot which includes a high-precision motion
vehicles at the crossover junction by communicating priorly controller and has capability of avoiding obstacles by
when they are approaching the same crossover junction. Braitenberg algorithm.
left four sensors are connected to left motor and right four
are connected to right motor.
Consider crossing of two roads in which the vehicles are
approaching the same crossover point from two different
directions as in Fig.5a. Let the two vehicles be V1 and V2 as
shown in Fig.4. Let the speed at which Vehicle V1 is
Fig.1 Pioneer P3-DX Robot travelling be S1 and speed at which vehicle V2 travelling be
S2. Let us assume that speed of the second vehicle to be
d. Ultrasonic sensor higher than the first i.e. S2>S1.
Ultrasonic sensor is one of the sensors available for
detection of objects. The HC-SR04 ultrasonic sensor consists
of transmitter, receiver and control circuit. It has four
different pins namely VCC, GND, Trigger and Echo pins as
shown in Fig.2. It sends a high-frequency ultrasonic sound
and the distance by calculated using the time interval
between sending of signal and receiving of echo. The
operating range of frequency is approximately 40kHz and
has distance up to 4m. It has high ranging accuracy and Fig.4 Schematic diagram
stable performance.
Fig.5a, Fig.5b and Fig.5c shows the simulated results of
Braitenberg algorithm in Vrep.
e. Wireless Transceiver
Transceiver is a combination of both transmitter and
receiver in a single module as shown in Fig.3. The
NRF24L01 transceiver operates on a frequency of 2.4GHz Fig.5aTop view when vehicles approaching same
and has a range of 100m.Transfer of information takes place crossover junction
with baud rate from 250kbps up to 2Mbps wirelessly.