Obstacle Avoidance Robot with

ultrasonic sensor
Abidur Rahman Sagor Towfiq Mahmud Mridul Mehedi Hasan Khan
18-38599-2 18-37866-2 17-35783-2
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
abidsagor83@ieee.org towfiqmahmudmridul@ieee.org 17-35783-2@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 18-37309-1
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 (HEADING 1)
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 Pin Pin Details
decided to work on ROBOTICS field, and design something Category Name
which will make human life today’s aspect. There are Power Vin,
different types of mobile robots which can be divided into 3.3V, Vin: Input voltage to Arduino
several categories consists of wheeled robot, crawling robot 5V,
and legged robot. This project deals with a wheeled GND when using an external power
autonomous ROBOT. It is the part of Automation; Robot
has sufficient intelligence to cover the maximum area. This source.
robot uses infrared sensor to detect the obstacle in between
5V: Regulated power supply used
the path and then avoid them to complete its objective. The to power microcontroller and
IR transmitter continuously generate an Infrared signal of
38 KHz, when an obstacle comes in the path the infrared other components on the board.
signal reflected back from the object and is received by the
IR sensor TSOP1738 and then generate a positive high 3.3V: 3.3V supply generated by
signal with the help of the receiver circuit that is there is an
obstacle in the path. In such a way the robot is able to detect on-board voltage regulator.
obstacles of provided space and able to avoid obstacles
coming in between the path of ROBOT with the help Maximum current draw is 50mA.
microcontroller board and complete its journey. GND: ground pins.
Reset Reset Resets the microcontroller.
Analog Pins A0 – Used to provide analog input in
II. THEORY AND METHODOLOGY A5 the range of 0-5V
Input/Outpu Digita Can be used as input or output
A. Arduino UNO
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.
Interrupts
Inbuilt LED 13 To turn on the inbuilt LED.

The Arduino Uno is a microcontroller board based on the
ATmega328. It has 14 digital input/output pins (of which 6
can be used as PWM outputs), 6 analog inputs, a 16 MHz
crystal oscillator, a USB connection, a power jack, an ICSP
header, and a reset button. It contains everything needed to
support the microcontroller; simply connect it to a computer
with a USB cable or power it with a AC-to-DC adapter or
B. HC-SR04 Ultrasonic Sensor
HC-SR04 Ultrasonic (US) sensor is a 4-pin module, whose
pin names are Vcc, Trigger, Echo and Ground respectively.
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.
The sensor works with the simple high school formula that, 3 Echo Echo pin is an Output pin. This

Distance = Speed × Time pin goes high for a period of

time which will be equal to the

The Ultrasonic transmitter transmits an ultrasonic wave, this
wave travels in air and when it gets objected by any material time taken for the US wave to
it gets reflected back toward the sensor this reflected wave is
observed by the Ultrasonic receiver module return back to the sensor.

4 Ground This pin is connected to the

Ground of the system.

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
DC motors typically do not need an H-Bridge driver to
particular amount of time, this way we can also know the
operate. For it is only necessary when anyone need to
time taken. Now simply calculate the distance using a
change the rotation direction of the motor spin. Therefore, a
microcontroller or microprocessor.
transistor or MOSFET circuit will only be necessary to drive
a DC motor if driving the motor spin in only one direction.
Ultrasonic Sensor Pin Configuration

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.
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: 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.
Pin Name Description
Working of a Servo Motor
IN1 & IN2 Motor A input pins. Used to control

the spinning direction of Motor A The servo motor has some control circuits and a
potentiometer (a variable resistor, aka pot) connected to the
IN3 & IN4 Motor B input pins. Used to control output shaft. In the picture above, the pot can be seen on
the right side of the circuit board. This pot allows the
the spinning direction of Motor B control circuitry to monitor the current angle of the servo
motor.
ENA Enables PWM signal for Motor A
If the shaft is at the correct angle, then the motor shuts off.
ENB Enables PWM signal for Motor B 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
OUT1 & Output pins of Motor A the servo is capable of traveling somewhere around 180
degrees. Usually, it is somewhere in the 210-degree range,
OUT2 however, it varies depending on the manufacturer. A
normal servo is used to control an angular motion of 0 to
OUT3 & Output pins of Motor B 180 degrees. It is mechanically not capable of turning any
farther due to a mechanical stop built on to the main output
OUT4 gear.

12V 12V input from DC power Source
5V Supplies power for the switching
logic circuitry inside L298N IC
The power applied to the motor is proportional to the
distance it needs to travel. So, if the shaft needs to turn a
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
speed. This is called proportional control.

GND Ground pin

III. LITARATURE REVIEW

“Obstacle-avoiding robot with IR and PIR motion Sensors”

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
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 V. SIMULATION
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
mentioned that enormous amount of work has been done on
wireless gesture controlling of robots. Various VI. PROJECT COST
methodologies have been analyzed and reviewed with their
merits and demerits under various operational and S EQUIPMENT Quantity COST(TK)
functional strategies. Thus, it can be concluded that features L
like user friendly interface, light weight and portability of N
android OS based smart phone have overtaken the O
sophistication of technologies like programmable glove, 1 Arduino Uno 1 540
static cameras etc., making them obsolete. Although recent 2 HC-SR04 1 120
researches in this field have made wireless gesture Ultrasonic
controlling a ubiquitous phenomenon, it needs to acquire Sensor
more focus in relevant areas of applications like home 3 LM298N Motor 1 200
appliances, wheelchairs, artificial nurses, table top screens Driver Module
etc. in a collaborative manner. 4 5V DC Motors 4 240
5 Servo Motor 1 200
“Obstacle Detection and Avoidance by a Mobile Robot”. In 5 Wheel 4 260
this paper, deals with detection and avoidance of the various
6 Chassis 1 500
obstacles found in an environment, it was found that given a
7 Breadboard 1 90
number of obstacles, the robot is able to detect and avoid the
8 Battery 1 50
obstacle with an average accuracy of 86.62%.
T TK 2200
ot
IV. MODELING / BLOCK DIAGRAM al

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
limited and it is used in most of the military organizations
now which helps carry out many risky jobs that cannot be
done by any soldiers.

Survey Questions:

VIII.ENVIRONMENTAL IMPACT
In this project, Robot navigation problems can be generally
classified as global or local, depending upon the
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
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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