Obstacle Avoidance Robot with ultrasonic sensor

Abidur Rahman Sagor Towfiq Mahmud Mridul Mehedi Hasan Khan

18-38599-2 18-37866-2 17-35783-3
Department of EEE, American Department of EEE, American Department of EEE, American
International University- International University- International University-
Bangladesh Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh Dhaka, Bangladesh
abidsagor83@ieee.org towfiqmahmudmridul@ieee.org 17-35783-3@student.aiub.edu

Faisal Ahmad Mridha MD.Nahid Hasan Niloy MD. Mosaraf Hosen Bhuiyam
18-37795-2 18-37894-2 18-37835-2
Department of EEE, American Department of EEE, American Department of EEE, American
International University- International University- International University-
Bangladesh Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh Dhaka, Bangladesh
faahmedfatin@gmail.com niloypbt@gmail.com mishon27nov@gmail.com

Ferdouss Hasan Nafisa Tabassum Amit Datta

18-37934-2 18-37773-2 18-38609-2
Department of EEE, American Department of EEE, American Department of EEE, American
International University- International University- International University-
Bangladesh Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh Dhaka, Bangladesh
Fardoushasan610@gmail.com nafisatabassumnisha@gmail.com amitdatta277@gmail.com

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Abstract— The purpose of this paper is to elaborate the
concept of “Obstacle avoidance robot with ultrasonic
sensor”. To build this system practically, the Arduino
UNO, ultrasonic sensor, motor driver, servo motor and
others. To conduct this report the software named
“Proteus 8 Professional’. Through analyzing the collected
data this paper offers a big concept to
mobile robot system, which is capable of performing
various tasks for the physically disabled, has been
developed. To avoid collision with unexpected obstacles,
the mobile robot uses ultrasonic range finders for
detection and mapping. It is a modern gadget, which can
apply with artificial intelligence and other technology.
battery to get started. The Uno differs from all preceding
boards in that it does not use the FTDI USB-to-serial driver
chip. Instead, it features the Atmega8U2 programmed as a
USB-to-serial converter. "Uno" means one in Italian and is
named to mark the upcoming release of Arduino 1.0. The
Uno and version 1.0 will be the reference versions of
Arduino, moving forward. The Uno is the latest in a series
of USB Arduino boards, and the reference model for the
Arduino platform; for a comparison with previous versions,
see the index of Arduino boards.

Keywords— Arduino, L298N driver, servo motor,

ultrasonic sensor.
I. INTRODUCTION
A. About Obstacle avoidance robot with ultrasonic sensor.

Now a day’s Robotics is part of today’s communication &

communication is part of advancement of technology, so we
decided to work on ROBOTICS field, and design something
which will make human life today’s aspect. There are Pin Pin Details
different types of mobile robots which can be divided into Category Name
several categories consists of wheeled robot, crawling robot
and legged robot. This project deals with a wheeled Power Vin,
autonomous ROBOT. It is the part of Automation; Robot 3.3V, Vin: Input voltage to Arduino
has sufficient intelligence to cover the maximum area. This 5V,
robot uses infrared sensor to detect the obstacle in between GND when using an external power

the path and then avoid them to complete its objective. The source.
IR transmitter continuously generate an Infrared signal of 5V: Regulated power supply used
38 KHz, when an obstacle comes in the path the infrared
signal reflected back from the object and is received by the to power microcontroller and
IR sensor TSOP1738 and then generate a positive high
signal with the help of the receiver circuit that is there is an other components on the board.
obstacle in the path. In such a way the robot is able to detect
obstacles of provided space and able to avoid obstacles 3.3V: 3.3V supply generated by
coming in between the path of ROBOT with the help
microcontroller board and complete its journey. on-board voltage regulator.

Maximum current draw is 50mA.

II. THEORY AND METHODOLOGY GND: ground pins.
Reset Reset Resets the microcontroller.
A. Arduino UNO
Analog Pins A0 – Used to provide analog input in
A5 the range of 0-5V
Input/Outpu Digita Can be used as input or output
t Pins l Pins pins.
0 - 13
Serial 0(Rx), Used to receive and transmit TTL
1(Tx) serial data.
External 2, 3 To trigger an interrupt.
The Arduino Uno is a microcontroller board based on the Interrupts
ATmega328. It has 14 digital input/output pins (of which 6 Inbuilt LED 13 To turn on the inbuilt LED.
can be used as PWM outputs), 6 analog inputs, a 16 MHz
crystal oscillator, a USB connection, a power jack, an ICSP B. HC-SR04 Ultrasonic Sensor
header, and a reset button. It contains everything needed to HC-SR04 Ultrasonic (US) sensor is a 4-pin module, whose
support the microcontroller; simply connect it to a computer pin names are Vcc, Trigger, Echo and Ground respectively.
with a USB cable or power it with a AC-to-DC adapter or This sensor is a very popular sensor used in many
applications where measuring distance or sensing objects
are required. The module has two eyes like projects in the
front which forms the Ultrasonic transmitter and Receiver. time which will be equal to the
The sensor works with the simple high school formula that,
time taken for the US wave to
Distance = Speed × Time
return back to the sensor.
The Ultrasonic transmitter transmits an ultrasonic wave, this
4 Ground This pin is connected to the
wave travels in air and when it gets objected by any material
it gets reflected back toward the sensor this reflected wave is Ground of the system.
observed by the Ultrasonic receiver module

C. L298N Driver
The L298N Module is large in size and will need plenty of
space if fitting inside a vehicle. However, with the size of
motor that this can support, you can have a vehicle large
enough to support its physical size.

Anyone can consider using the L298N H-Bridge Module for

driving DC motors that are typically installed in custom
built robots or vehicles.

Now, to calculate the distance using the above formulae, we

should know the Speed and time. Since we are using the
Ultrasonic wave, we know the universal speed of US wave
at room conditions which is 330m/s. The circuitry inbuilt on
the module will calculate the time taken for the US wave to
come back and turns on the echo pin high for that same
particular amount of time, this way we can also know the DC motors typically do not need an H-Bridge driver to
time taken. Now simply calculate the distance using a operate. For it is only necessary when anyone need to
microcontroller or microprocessor. change the rotation direction of the motor spin. Therefore, a
transistor or MOSFET circuit will only be necessary to drive
Ultrasonic Sensor Pin Configuration a DC motor if driving the motor spin in only one direction.

Pin Pin Description

Number Name

1 Vcc The Vcc pin powers the sensor,

typically with +5V

2 Trigger Trigger pin is an Input pin.

This pin has to be kept high for

10us to initialize measurement

by sending US wave.
3 Echo Echo pin is an Output pin. This
pin goes high for a period of
In most situations, the H-Bridge Module is likely to be
powered by battery where the voltage is likely to drop over
time. Therefore, it is necessary to consider what is the
maximum and lowest voltage is needed for good system
operation. Knowing this will help you decide when you
need to disable the H-Bridge 5v regulator.
L298N Module Pin Configuration: Working of a Servo Motor

The servo motor has some control circuits and a

potentiometer (a variable resistor, aka pot) connected to the
Pin Name Description
output shaft. In the picture above, the pot can be seen on
the right side of the circuit board. This pot allows the
IN1 & IN2 Motor A input pins. Used to control
control circuitry to monitor the current angle of the servo
the spinning direction of Motor A motor.
If the shaft is at the correct angle, then the motor shuts off.
IN3 & IN4 Motor B input pins. Used to control If the circuit finds that the angle is not correct, it will turn
the motor until it is at a desired angle. The output shaft of
the spinning direction of Motor B
the servo is capable of traveling somewhere around 180
degrees. Usually, it is somewhere in the 210-degree range,
ENA Enables PWM signal for Motor A
however, it varies depending on the manufacturer. A
normal servo is used to control an angular motion of 0 to
ENB Enables PWM signal for Motor B
180 degrees. It is mechanically not capable of turning any
farther due to a mechanical stop built on to the main output
OUT1 & Output pins of Motor A
gear.
OUT2 The power applied to the motor is proportional to the
distance it needs to travel. So, if the shaft needs to turn a
OUT3 & Output pins of Motor B large distance, the motor will run at full speed. If it needs
to turn only a small amount, the motor will run at a slower
OUT4
speed. This is called proportional control.
12V 12V input from DC power Source

5V Supplies power for the switching III. LITARATURE REVIEW

logic circuitry inside L298N IC

“Obstacle-avoiding robot with IR and PIR motion Sensors”
GND Ground pin has been designed and developed by Aniket D. Adhvaryu et
al has proposed that developed robot platform was not
designed for specific task but as a general wheeled
autonomous platform. It can therefore be used for
educational, research or industrial implementation. Students
can use it to learn the microcontroller programming using
C++, Arduino Uno 1.6.5 compiler, IR and PIR sensors
characteristics, motor driving circuit and signal condition
circuit design. Research on obstacle avoidance robot at the
polytechnic level can help students to develop
communication, technical skills and teamwork. The design
of such robot is very flexible and various methods can be
adapted for another implementation. It shows that PIR
sensors are more sensitive compared to IR sensors while
detecting human being.

“Obstacle Avoidance Robot” has been designed and

D. Servo motor:
A Servo Motor is a small device that has an output shaft.
This shaft can be positioned to specific angular positions by
sending the servo a coded signal. As long as the coded
signal exists on the input line, the servo will maintain the
angular position of the shaft. If the coded signal changes, the
angular position of the shaft changes. In practice, servos are
used in radio-controlled airplanes to position control
surfaces like the elevators and rudders. They are also used in
radio-controlled cars, puppets, and of course, robots.
developed by Paul Kinsky, Quan Zhou mentioned that robot
with a few mechanical components to add two more
functions to the main body, namely the laptop holder and
the camera holder. AT89S52 development board is
designed, developed and tested in a large scale, which was
used to control the motors smoothly. the cameras with
relatively low cost are fixed and adjusted on the camera
holder for good calibration of the computer vision. Users
establish the serial communication method between the
upper laptop and the lower development board with USB
port. The laptop will send out a signal of the motor
condition to the development board. “obstacle avoidance
car” has been designed and developed by Faiza Tabassum,
et.al has mentioned that Obstacle Avoidance Car
successfully detects and avoids obstacles. Simple algorithms
used to steer and reducing the turning radius, successfully
navigated the vehicle. Inconclusion, the group successfully
interfaced every component that was originally planned.
Timer interrupts for IR pulse generation. Obstacle detection
using IR transceiver. Servo mechanism using PWM.
Steering system using Lego and Servo.

“Obstacle Avoidance Robotic Vehicle Using Ultrasonic

Sensor, Android and Bluetooth for Obstacle Detection” has
been designed and developed by Vaghela et.al has After running the Simulation
mentioned that enormous amount of work has been done on
wireless gesture controlling of robots. Various
methodologies have been analyzed and reviewed with their
merits and demerits under various operational and
functional strategies. Thus, it can be concluded that features
like user friendly interface, light weight and portability of
android OS based smart phone have overtaken the
sophistication of technologies like programmable glove,
static cameras etc., making them obsolete. Although recent
researches in this field have made wireless gesture
controlling a ubiquitous phenomenon, it needs to acquire
more focus in relevant areas of applications like home
appliances, wheelchairs, artificial nurses, table top screens From the simulation its seems that, there a motor driver runs
etc. in a collaborative manner. four DC motor which are working as a wheel of the system.
And a servo motor is connected a pin number 10. It works
“Obstacle Detection and Avoidance by a Mobile Robot”. In for changing the direction. After running the simulation , the
this paper, deals with detection and avoidance of the various DC motor starts run and when The ultrasonic sensor found
obstacles found in an environment, it was found that given a an object in the area of its rader, then the servo motor
number of obstacles, the robot is able to detect and avoid the change the direction to an alternative way, so that it can
obstacle with an average accuracy of 86.62%. avoid collision with any object. A potentiometer is used here
for creating the distance between object and ultrasonic
sensor.

IV. MODELING / BLOCK DIAGRAM

VI. PROJECT COST

S EQUIPMENT Quantity COST(TK)

L
N
O
1 Arduino Uno 1 540
2 HC-SR04 1 120
Ultrasonic
Sensor
3 LM298N Motor 1 200
Driver Module
4 5V DC Motors 4 240
5 Servo Motor 1 200
5 Wheel 4 260
6 Chassis 1 500
7 Breadboard 1 90
8 Battery 1 50
T TK 2200
ot
V. SIMULATION AND RESULT al

Before running the Simulation

 VII. SOCIAL IMPACT
Technology has always played an essential role in human
work, progress, and advancement. With the advances in
technology, machines that were increasingly working
alongside humans, or for humans, have come a long way
and have started working on their own. Reduce serious
injury or the risk of death in dangerous jobs. Exploration
robots help increase scientific knowledge, manned missions
to inaccessible environments would be more expensive and
dangerous than sending robots.
The application of the Obstacle Avoiding robot is not VIII. ENVIRONMENTAL IMPACT
limited and it is used in most of the military organizations
In this project, Robot navigation problems can be generally
now which helps carry out many risky jobs that cannot be
classified as global or local, depending upon the
done by any soldiers.
environment surrounding the robot. In local navigation, the
environment surrounding the robot is unknown or only
partially known, and sensors have to be used to detect the
obstacles, and a collision-avoidance system must be
incorporate. For instance, an imaging sensor can be
Survey Questions:
beneficial when an ultrasonic sensor may not correctly
identify obstacles in an environment subjected to ambient
noise and varying temperature or air pressure.
IX. LIMITATION
In this project, some was indicated. First of all, it is a time-
consuming project. It takes much time to build this project.
The ultrasonic sensor can work in a short range only. And
the movement of this project is not in control of a human. It
is not recommended to keep the range very long because
this would cause the robot to keep moving forward and
backward as it senses an obstacle, even far away from it
Another limitation of this project is, the physical structure of
this project is not so robust. So, it can be hampered if any
collision happens.

X. FUTURE WORK

Obstacle Avoid Robot is a robot that automatically stops if

there is an object in front of it or if there is an obstacle. It
can be used in almost all mobile robot navigation systems.
They can be used for household work like automatic
vacuum cleaning. They can also be used in dangerous
environments, where human penetration could be fatal.
Basically, its design allows robots to navigate in unknown
environments by avoiding collisions. Obstacle avoiding
robot senses obstacles in the path avoids it and resumes its
running. We have made use of sensors to achieve this
objective. This system can also be used in driverless new
types of electric cars which are under artificial intelligent
technology. This will reduce the number of car accidents.

ACKNOWLEDGMENT
We are heartily thankful to our course instructor, whose
encouragement, supervision and support from the
preliminary to the concluding level enabled us to develop an
understanding of the subject.
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[1] http://digital.csic.es/bitstream/10261/127788/7/D-c-
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Oclu0
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Worcester polytechnic institute
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Avoidance Robotic Vehicle Using Ultrasonic Sensor, Android
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