Obstacle avoiding robot(Lab report)

PROJECT REPORT ON
OBSTACLE AVOIDING ROBOT
GROUP NAME: GALAXY
SUBMITTED BY: GUIDED BY:
Zubayer Al Billal Khan
Reserch & Development
Engineer,IICT,BUET.
Lecturer in Robotics
Faculty of Engineering
UODA

SUBMISSION DATE:04/12/2017
Abstract
The obstacle detection scheme would be based a sonar sensor, one for forward
direction , a microcontroller would take input from the sensor and then compare
the inputs to decide where the robot should turn. It would then give input to the
two h-bridges which would in turn direct the motors to control the movement of
the robot. Apart from that we will use a 5v battery to power the microcontroller
and the motors.
INDEX
PREFACE
A) INTRODUCTION

B) SCOPE OF PROJECT
DESIGN OF THE PROJECT
PRELIMINARY DESIGN
BLOCK DIAGRAM
CIRCUIT DIAGRAM
COMPONENT LIST
PROBLEMS ENCOUNTERED
FINAL DESIGN
PCB LAYOUT
CIRCUIT DESCRIPTION
ALGORITHM
TESTING
SOFTWARES USED
SCOPE OF THE PROJECT
APPLICATIONS
FURTHER IMPROVEMENTS & FUTURE SCOPE
REFERENCES
INTRODUCTION :
This particular robotic device is a combination of both mechanical and electronics
engineering. This system is made so that it can be used to detect and avoid
obstacles successfully. This robot will be just like an electronic car that keeps on
moving in straight line until something comes in its path that’s when it decides to
turns into some other direction so it successfully avoids the obstacle.

Obstacle avoidance
In robotics, obstacle avoidance is the task of satisfying some control objective
subject to non-intersection or non-collision position constraints. Normally
obstacle avoidance is considered to be distinct from path planning in that one is
usually implemented as a reactive control law while the other involves the pre-
computation of an obstacle-free path which a controller will then guide a robot
along.
Scope of the project :
The project uses Arduino Uno as the controlling element. It uses an
Ultrasonic sensor. When the obstacle comes in path of robot the sensor send
sound to the obstacle and it reflected from the obstacle then sensor gives zero
voltage to µc. This zero voltage is detected then µc decides to avoid the obstacle
by taking left or right turn. If the sensor gives +5v to µc that means there is no
obstacle present in it path so it goes straight until any obstacle is detected.
The two IR transmitter circuits are fitted on front side of robot. The
connections can be given from main circuit to sensors using simple twisted pair
cables.
Two motors namely right motor and left motor are connected to
driver IC (L298D). L293D is interface with µc. Micro-controller sends logic 0 &
logic 1 as per the programming to driver IC which moves motors forward or
reverse direction.
DESIGN OF PROJECT
BLOCK DIAGRAM:

DESCRIPTION:
Basically circuit consist of following blocks:
1) Sensors
2) Arduino Uno
3) Motor Driver L298D
2 X DC Motors
Let us take the overview of each block one by one.
1. Ultrasonic Sensor:
This is the HC-SR04 ultrasonic ranging sensor. This economical sensor provides
2cm to 400cm of non-contact measurement functionality with a ranging accuracy
that can reach up to 3mm. Each HC-SR04 module includes an ultrasonic
transmitter, a receiver and a control circuit.
There are only four pins on the HC-SR04: VCC (Power), Trig (Trigger), Echo
(Receive), and GND (Ground)
2. Microcontroller

This is the most important block of the system. Microcontroller is the decision
making logical device which has its own memory, I/O ports, CPU and Clock
circuit embedded on a single chip.
3.Driver
L298D is used as driver IC. Motors are connected to this IC. According to program
in µc it drives the left and right motor.
CIRCUIT DIAGRAM:
COMPONENTS USED:

1.Microcontroller: Arduino Uno R3
2. ICs:
3) MISCELLANEOUS:
4) Sonar Sensor (Ultra sound)
5) Battery: 9v battery + Clip
VALUE QUANTITY
L298D motor
Driver
1
COMPONENT QUANTITY
12V , DC MOTOR 2
9V DC BATTERY 2
CONNECTING WIRES F to F,M
to M -

6) Car set
7) Bread Board
8) Tap
9) Plug /jack
10) Jumper Wire
11) Survo motor
PROBLEMS FACED:
Although the concept & design of the project seemed perfect, there were some
problems faced while actual implementation:
1) Measuring Current Flow:
Solution: We have faced the problem that sometime we don’t know the flow
of current flow in the Arduino and to the Motor driver because in our project
the maximum current flow to the Microcontroller is 9v. So that it is the most
important thing to measure the current flow while give it to the
microcontroller and also to the motor driver.
2) Loss connection :
Solution: While connecting to the motor driver there were some problems.
Such as the current flow to the motor driver was not accurate because of
loss connection and also when the motor runs the peak current was too
high so that we replaced heavy wire instead of normal wire.
3) Ground:
Solution: As we used two different power supply that’s why initially the
robot didn’t run because as we know if we connect two circuits where one
has the dependencies with another that’s why we make sure that the
ground of two circuits is same.

FINAL DESIGN:
2. CIRCUIT DESCRIPTION:
ELECTRICAL DESIGN:-
Components are properly mount on respective position. This include wiring and
layout. The connection are given such that two IC’s i.e. 89V51RD2 & L293D are
interface. To L293D we connect two motors namely left motor & right motor.

We implement transmitter circuit separately & gives power supply
independentely. For power supply we use chargeable DC battery which having
rating of 6V & 1.3A.Output pin of sensor(TSOP 1738) is connected to micro-
controllers pin.
MECHANICAL DESIGN:-
It include front panel which is given with ball caster wheel which is fixed. Back
panel is provided with circular wheel with DC motor of 12v and 100 rpm with
suitable clip pin for fixing the tyre. All the assembly is fixed on base. All assembly
mounted on single base.
ALGORITHM-:
1) Start
2) Initialize the input port & output port. Set the bit of port pin 1.0
3) Read data from port 1.
4) Check the bit on pin P1.0.
5) If bit is present move motors in forward direction.
Else go to step 6.
6) If bit is not present on pin P1.0, then stop right motor & move left motor in forward
direction until we get bit on pin p1.0.
7) Again go to step 3.
8) Stop.
9)
TESTING:-
A) HARDWARE
B) SOFTWARE
A) Hardware:-

1. Continuity test:-
First of all we checked the PCB that all the tracks are as per the design of PCB and
showing continuity with the help of multimeter and PCB layout.
2. Short circuit test:-
Then we checked the PCB for any unwanted short circuits with the help of
Multimeter and PCB layout.
3. Soldering:-
In the next step, we soldered the required components.and then checked that
there are no any unwanted shorts occurred due to soldering without putting IC's
and keeping power supply off.
4. Power supply test:-
In the next step, we put power supply on and checked whether required
voltage is appearing at the required voltage is appearing at the required points
i.e.+Vcc and GND at the respective points.we took care of not connecting IC's in
the circuit while performing this test.
5. Microcontroller test:-
For testing the microcontroller, we wrote the square wave generation
program for generating square wave on each port pin.Then we fed the program in
microcontroller and checked the output with the help of CRO by connecting the
microcontroller in the circuit. We took care of not connecting any other IC in the
circuit.
SOFTWARES USED
SOFTWARES USED :

1. Arduino Editor:
Code:
const int trigPin1 = 12;
const int echoPin1 = 13;
const int InputA =4; // M1a
const int InputB =5; // M1b
const int InputC =6; // M2a
const int InputD =7; // M2b

void setup()
{
Serial.begin(9600);
pinMode(trigPin1, OUTPUT);
pinMode(echoPin1, INPUT);
pinMode(InputA, OUTPUT);
pinMode(InputB, OUTPUT);
pinMode(InputC, OUTPUT);
pinMode(InputD, OUTPUT);
}
long duration, distance;
void loop()
{
digitalWrite(trigPin1, LOW);
delayMicroseconds(5);
digitalWrite(trigPin1, HIGH);
delayMicroseconds(5);
digitalWrite(trigPin1, LOW);
duration = pulseIn(echoPin1, HIGH);

distance = (duration/2) / 29.1;
if(distance<20) //MOVE LEFT
{
digitalWrite(InputA, LOW);
digitalWrite(InputB, HIGH);
digitalWrite(InputC, HIGH);
digitalWrite(InputD, LOW);
}
else //MOVE STRAIGHT
{
digitalWrite(InputA, HIGH);
digitalWrite(InputB, LOW);
digitalWrite(InputC, HIGH);
digitalWrite(InputD, LOW);
}
}

APPLICATIONS
APPLICATIONS :
1) This logic has been specially designed for vaccum cleaner. By using
heavy rating motors ,strong mechanical structure and using highly
sensitive obstacle sensors, it efficiently work as vaccum cleaner.
2) Just by making small changes in software this system can be
used for avoiding concealed paths. This robot can effectively sense
the obstacles and find out correct path.
3) With proper programming we can use it as a weight lifter.
4) In Mines.
FURTHER IMPROVEMENTS & FUTURE SCOPE :
1. Adding a Camera:

If the current project is interfaced with a camera (e.g. a Webcam) robot can be
driven beyond line-of-sight & range becomes practically unlimited as
networks have a very large range.
2. Use as a fire fighting robot :
By adding temperature sensor, water tank and making some changes in
programming we can use this robot as fire fighting robot.
FUTURE WORK
The future work includes the enhancement of the robot design so that it can
compute area of a room and plot it on the computer.
REFERENCES:
The 8051 Micro controller and embedded systems.
1. Wikipedia - The free encyclopedia
2)http://www.instructables.com/id/Arduino-Ultimate-Obstacle-Avoiding-
Robot/
3) https://www.youtube.com/watch?v=GJ6XHrs9Lf0
4.http://www.datasheetcatalog.com/
5. http://oarobot.blogspot.com/

Obstacle avoiding robot(Lab report)

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