WELCOME

TITLE:OBSTACLE AVOIDABLE
ROBOT
PROJECT TEAM MEMBERS

 A.AZARUDEEN (22216073)
 T.ISSAC JACOB (22216090)
 G.MANIKANDAN (22216106)
 R.MANMADHAN (22216107)
 P.NAVEEN (22216114)
 K.PARTHASARATHI (22216118)
INDEX
 INTRODUCTION
 ABSTRACT
 EXISTING METHOD
 INNOVATIVE METHOD
 BLOCK DIAGRAM
 CIRCUIT DIAGRAM
 PARTS
 ARDUINO UNO
 MOTOR CONTROLLER L293D
 GEAR MOTOR
 ULTRASONIC SENSOR
 FEATURES OF ULTRASONIC SENSOR
 SERVOMOTOR
 18650 LITHIUM-ION BATTERY
 FLOW CHART
 THANK YOU
 INTRODUCTION
 Obstacle avoidance Robot is designed in order to navigate the robot in
unknown environment by avoiding collisions.
 Obstacle avoiding robot senses obstacles in the path, avoid it and
resumes its running.
 There are some very popular methods for robot navigation like wall-
following, edge detection, line following and many more.
 A more general and commonly employed method for obstacle
avoidance is based on edge detection.
 ABSTRACT

 The project is design to build an obstacle avoidance robotic vehicle using

ultrasonic sensors for its movement.
 A microcontroller (ATmega328) is used to achieve the desired operation.
 A robot is a machine that can perform task automatically or with guidance.
 The project proposes robotic vehicle that has an intelligence built in it such
that it directs itself whenever an obstacle comes in its path.
 An ultrasonic sensor is used to detect any obstacle ahead of it and sends a
command to the micro-controller.
 EXISTING METHOD

 Before ultrasonic sensor, IR(infrared radiation) sensor is preferred.

 IR sensors can measure and detect infrared radiation in its surroundings.
 IR sensors have an advantage of operating on low power consumption and
applicable for darker condition.
 Two IR sensors are used one is placed in the right and other left.
 When the intensity is low in both the sensors, then the robot detects and
object and moves backward.
 If it detects low intensity in the right sensor, the robot moves backwards and
then take a right turn and vice versa.
 If there is no object detected, then the robot moves forward until it detects
any obstacle.
 INNOVATIVE METHOD

 The innovative method is IR sensor is replaced by ultrasonic sensor due to

some disadvantages.
 Ultrasonic sensors can measure the distance to a wide range of objects
regardless of shape, color or surface texture.
 They are also able to measure an approaching or receding object.
 It has more reliable and accurate than IR sensor
BLOCK DIAGRAM
 EXPLANATION

 The sonar system is used in HC-SR04 ultrasonic sensor to determine distance

to an object like bats do.
 It offers excellent non-contact range detection from about 2 cm to 400 cm or
1feet to 13 feet. Its operation is not affected by sunlight or black material.
 The ultrasonic sensor emits the short and high frequency signal.
 If they detect any object, then they reflect back echo signal which is taken as
input to the sensor through Echo pin .
 It returns the pulse length in microseconds or when complete pulse was not
received within the timeout it returns.
CIRCUIT DIAGRAM
PARTS

 ARDUINO UNO R3
 MOTOR DRIVER L293D
 GEAR MOTORS
 WHEELS
 ULTRASONIC SENSOR
 SERVOMOTOR
 LI-ON BATTERIES(18650)
 BATTERY HOLDER
 JUMPER WIRES
ARDUINO UNO
 EXPLANATION

 The Arduino Uno is an open-source microcontroller board based on the

Microchip ATmega328P microcontroller (MCU) and developed by Arduino.cc
and initially released in 2010.
 The microcontroller board is equipped with sets of digital and analog
input/output (I/O) pins that may be interfaced to various expansion boards
(shields) and other circuits.
 The board has 14 digital I/O pins (six capable of PWM output), 6 analog I/O
pins, and is programmable with the Arduino IDE (Integrated Development
Environment), via a type B USB cable.
MOTOR CONTROLLER L293D
 EXPLANATION

 A motor controller is a device or group of devices that can coordinate in a

predetermined manner the performance of an electric motor.
 A motor controller might include a manual or automatic means for starting
and stopping the motor, selecting forward or reverse rotation, selecting and
regulating the speed, regulating or limiting the torque, and protecting against
overloads and electrical faults.
 Motor controllers may use electromechanical switching, or may use power
electronics devices to regulate the speed and direction of a motor.
GEAR MOTOR
 EXPLANATION

 Gear Motor is a commonly used term that designates a hoist that derives its
lifting and lowering power from a mechanical setup involving a gear set and
pneumatic or electric motor.
 As the name implies, a gear motor or geared motor is a motor having an
attached gear assembly.
 The gear assembly or gear train enable the gear motor to provide greater
torque at a lower RPM than the motor alone would be capable of providing.
ULTRASONIC SENSOR
 EXPLANATION

 When its ultrasonic sensor detects an obstacle or an edge, it sends a

command to the microcontroller.
 The microcontroller, based on the received input signal, directs the robot to
push in an alternative direction by actuating the motors that are interfaced
with it via a motor driver.
 Depending on the situation, the robot is able to choose a clear path and the
decision-making process of obstacle avoidance and edge detection occurs
spontaneously.
FEATURES OF ULTRASONIC SENSOR

 Compact and light weight

 High sensitivity and high pressure
 High reliability
 Power consumption of 20mA
 estimations within 2cm to 3m
 The explosion point LED shows estimations in advancement
 3-pin header makes it simple to connect utilizing
SERVO MOTOR
 EXPLANATION

 A servomotor is a rotary or linear actuator that allows for precise control of

angular or linear position, velocity, and acceleration in a mechanical system.
 It constitutes part of a servomechanism, and consists of a suitable motor
coupled to a sensor for position feedback.
 Servomotors are not a specific class of motor, although the term servomotor is
often used to refer to a motor suitable for use in a closed-loop control
system.
 Servomotors are used in applications such as robotics, CNC machinery, and
automated manufacturing
18650 LITHIUM-ION BATTERY
 EXPLANATION

 An 18650 battery is a cylindrical lithium-ion battery common in electronic

devices.
 The batteries measure 18 mm (0.71 in) in diameter by 65 mm (2.56 in) in
length, giving them the name 18650.
 The battery is 3.7 volts.
 Panasonic first developed the 18650 battery in 1994 "when there was a
growing need for ever smaller and lighter storage batteries that could be used
for ever longer periods of time".
 They are now commonly used in power tools, electric bicycles, laptops, and
electric vehicles.
FLOW CHART
 EXPLANATION

 Initially it checks obstacle within 30cm.

 The check has two possible outcomes, yes or no.
 Yes, meaning that there is indeed some object closer than 30 cm.
 No, meaning that there is no objects detected within 30cm.
 If there is nothing within 30 cm the robot can simply move forward as the
path is clear.
 If there is something closer than 30 cm the robot must perform obstacle
avoidance.
 If right is the way to go the robot simply moves forward as it is already facing
in the right direction.
75% Completed
THANK YOU
ANY QUERIES?