Robot Report Updated

OBSTACLE AVOIDING ROBOT CAR
OBSTACLE AVOIDING CAR USING ARDUINO AND

ULTRASONIC SENSORS
A Project Report
Submitted in partial fulfillment of the requirement for the award of
Degree of Bachelor of Engineering in Electronics & Communication
Submitted to
RAJIV GANDHI PROUDYOGIKI VISHWAVIDYALAYA, BHOPAL (M.P.)
MINI PROJECT REPORT
Submitted By:
LNCT-E STUDENTS
Under the guidance of:

Dr. Abhinav Bhargava
(Project Guide and In-charge)
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

LAKSHMI NARAIN COLLEGE OF TECHNOLOGY, EXCELLENCE, BHOPAL
Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

VISION OF THE INSTITUTE

To become a pioneer institute in technical education and innovations to build competent
technocrats and leaders for the nation.
MISSION OF THE INSTITIUTE

 To enhance the academic environment with innovative teaching learning processes
and modern tools.
 To Practice and nurture high standards of human values, transparency and
accountability.
 To Collaborate with other academic and research institutes as well as industries in
order to
Strengthen education and research.
 To uphold skill development for employability and entrepreneurship for inter
disciplinary
Research and innovations.


VISION OF THE DEPARTMENT

To become reputed in providing technical education in the field of electronics and
communication engineering and produce technocrats working as leaders.
MISSION OF THE DEPARTMENT

 To provide congenial academic environment and adopting innovative learning
process.
 To keep valuing human values and transparency while nurturing the young
engineers.
 To strengthen the department by collaborating with industry and research

organization of repute.
 To facilitate the students to work in interdisciplinary environment and enhance their

skills for employability and entrepreneurship.


PROGRAM EDUCATIONAL OBJECTIVES (PEO)
PEO1: Recognize and apply appropriate experimental and scientific skills to solve real
world problems to create innovative products and systems in the field of electronics and
communication engineering.
PEO2: To evolve graduates with ability to apply, analyze, design in Electronics &
Communication Systems.
PEO3: Motivate graduates to become responsible citizens with moral & ethical values for
the welfare of Society.
PEO4: Inculcate the habit of team work with professional quality of leadership to become
successful contributors in industry and/ or entrepreneurship in view of Global & National
status of technology.


CERTIFICATE
This is to certify that the work embedded in this project entitled

“OBSTACLE AVOIDING ROBOT CAR” has been satisfactorily
completed by the whole LNCT-E group members unitedly. It is a bonafide
piece of work, carried out under our guidance in the Department Of
Electronics & Communication Engineering, LAKSHMI NARAIN
COLLEGE OF TECHNOLOGY, EXCELLENCE, Bhopal for the partial
fulfillment of the Bachelor of Engineering during the academic year 2023-24.
Under the supervision of
………………..
(Project Guide)
Approved by
………………….
(Dr. Abhinav Bhargava)
(Head of the department)


CERTIFICATE OF APPROVAL
This forging project work is hereby approved as a candidate study of an

Engineering subject carried out and presented in a manner satisfactorily to
warranty its acceptance as a prerequisite to the degree for which it has been
submitted. It is understood that by this approval the undersigned so not
necessarily endorse or approve any statement made, opinion expressed or
conclusion drawn therein, but approval the project only for the purpose for
which it has been submitted.
Approved by
……………..
(Head of the department)


DECLARATION
We, The students of LNCT-E in Bachelor of Technology, Electronics

and Communication, Engineering, Lakshmi Narain College of
Technology Excellence, Bhopal, here-by declare that the work presented
in this Project-I by our LNCT-E team members is outcome of our own
work, is bonafide, correct to the best of our knowledge and this work has
been carried out taking care of Engineering Ethics. The work presented
does not infringe any patented work and has not been submitted to any
University for the award of any degree or any professional diploma.
Apoorv Malviya (0176EC221007)
Shubhi Mishra (0176EC221023)


ACKNOWLEDGEMENT
Words shall never be able to pierce through the Gamut's of emotions that
are Suddenly exposed during the routine of our college life. We would
like to thank, Abhinav Bhargava Sir, Project Guide and Project In-
charge of Electronics and Communication Engineering, for his well-
wishes and also to provide his kind support and valuable knowledge on
the subject from time to time.
We express our heart-felt thankfulness to Dr. Abhinav Bhargava,

H.O.D. of Electronics and Communication Engineering, LNCTE,
Bhopal for his unfailure inspiration, whole hearted co-operation and
constant encouragement throughout the progress of the dissertation and
incisive comments gave immense confidence to complete the work.
Also, we are grateful to Dr. Ashok Kumar Rai, Director
Administration, LNCT Group for providing us a positive learning
environment and Dr. A. K. Saxena Principal, LNCTE for giving us a
chance to fulfill our potential.

Table of Contents
1. Obstacle Avoiding Smartcar using Arduino and Ultrasonic Sensors ...........................
2. Abstract
3. Introduction
4. Components Used
5. Features of the components used
6. Arduino Uno Microcontroller
7. Ultrasonic Sensor
8. Testing the components
9. Shields
10. Motor Shield
11. Procedure
11.1 Getting the hardware ready
11.2 Getting the software ready
11.3 Writing the code
11.4 For this particular code
12. Schematic
13. Working
14. Applications
15. Further implementations
15.1 Flowchart
16. Project Contributions
17. Expectations and application
18. Shortcomings and limitations
19. Conclusion and future scope
20. Literature survey
21. Impact on society
22. Environment and sustainability
23. Cost Analysis
24. Reference
1.Obstacle Avoiding car using Arduino and Ultrasonic Sensors
This research discusses an ultrasonic sensor-controlled robot vehicle that can avoid obstacle
s. The robot is constructed with an ultrasonic sensor, and an Arduino microcontroller is use
d to operate it. Ultrasonic sensor mounted on the robot vehicle\'s front end. Through sensor
s that are attached on the robot, the sensor receives data from its surroundings. The sensor d
etects the obstruction and changes its course to choose a path devoid of obstacles. The sens
or will be send the data to the controller is compared with controller to decide the movemen
t of the robot Wheel. The robot wheel\'s movement and direction will depend on the wheel
encoder and an ultrasonic sensor for sensing. This vehicle is employed for obstacle detectio
n and collision avoidance. We have programmed the controller to be used with ARDUINO
SOFTWARE
The goal of the project is to create a robotic vehicle that can avoid obstacles by employing
ultrasonic sensors to guide it. In order to carry out the requested operation, an Arduino Uno
is used. A machine that can complete tasks autonomously is a robot. Robotics is generally a
combination of computational intelligence and physical machines (motors).Computational i
ntelligence involves the programmed instructions. The idea suggests creating a robotic vehi
cle with built-in intelligence that can self-direct when an obstacle is in its path. An Arduino
Uno is used to construct this robotic car. Any obstruction in front of it is detected by an ultr
asonic sensor, which then instructs the Arduino. Robotics is a rapidly expanding and fascin
ating field today. Robots are intelligent enough to occupy the most space possible. Robots t
hat are autonomous and intelligent can do desired tasks in unstructured conditions without c
onstant human supervision. The fundamental requirement for this autonomous robot is obst
acle detection. Through mounted sensors, the robot gathers information about its surroundi
ngs.

2.Abstract
Trajectory planning is one of the most important pivotal point in pick and placetasks done
by robotic manipulators. In this work, we have presented a robot, which is compact,
autonomous and fully functional.
This robot or a smartcar is built to sense any obstacle in its path, to avoid it andresume its
running involving the pre-computation of an obstacle free path.
Ultrasonic sensors were adapted to implement a real-time obstacle avoidance system for
wheeled robots, so that the robot can continually detect surroundings, avoid obstacles, and
move toward the target area.
This model has tremendous applications in vacuum cleaners, avoiding concealedpaths,
parking systems, assembling automobiles and in chemical industries, in scientific
exploration, emergency rescue and in other isolated environments.
We use an Arduino UNO with a Motor Shield along with Stepper Motors to make the
car, and for sensing we incorporate an Ultrasonic Sensor which accurately andefficiently
detects any obstacles in the smart car’s path. The Arduino is coded such that the smartcar
moves backward when an obstacle arises in front of it witha maximum limit of 50cms in
ideal testing conditions.
Throughout the construction of this model, we educated ourselves to the Arduinocoding
language, the Motor Shield functionality, and comprehensively, with the working of an
ultrasonic sensor and its features.
In conclusion, through this project, we aim to construct a model of a smartcar that is
beneficial to the quotidian problems of the present generation.

3.Introduction
Problems addressed
o Need for a robot that can perform trajectory planning effectively
o Need for a system which can detect obstacles and move in a pre-computedpath
o Need for the detection of obstacles that appear suddenly
o Need to minimize human risk regarding the upper limit of a human eye
o Need to assist the physically handicapped by incorporating cutting edge
technologies in wheelchairs
o Need to address the need for upgrade from inaccurate sensors like CCD
cameras, CMOS image sensors, laser light pens, global positioning systems, and
so on
o Need for advanced mapping devices during exploration of unknown
environments such as interplanetary exploration
Solutions offered
o Robot detects obstacles and avoids them in the trajectory

o Robot uses an Ultrasonic Sensor which is capable of detecting obstacles which
may appear suddenly, for instance, an animal in front of a wheelchair
o Robot can operate in the environment without much interference
o Robot can detect very minute details, which the human eye may neglect
o Robot can map various topographies and terrains

4.Components Used
Arduino Uno Chassis Ultrasonic Sensors

HC – SR04
Jumper Wires 5V Power Supply Castor Wheel
Wheels X2 Stepper Motors Motor Shield

5.Features of the components used
6. Arduino Uno Microcontroller
An Arduino is an open-source
microcontroller development
board. The most common version of
Arduino is the Arduino Uno. It is
relatively cheap, plugs straight into a
computer's USB port, and it is simple to
setup and use when compared to other
development boards.
Fig 6.1
Some of the key features of the Arduino UNO includes :
o Open source design. Large community at arduino.cc/forum/ of people using and

troubleshooting it.
o Easy USB interface. The chip on the board plugs straight into your USB port
and registers on your computer as a virtual serial port. This allows us to serially
communicate which is an extremely easy protocol
o Convenient power management and built-in voltage regulation. 12v can easily
beregulated to both 5v and 3.3v
o Easy-to-find and cheap, microcontroller
o Countless number of hardware features like timers, PWM pins, external and
internal interrupts, and multiple sleep modes.
Some other specifications are
o A 16 MHz clock.
o 32 KB of flash memory
o 13 digital pins and 6 analogue pins.
o ICSP connector to re-bootload your chip and for bypassing the USB port and
interfacing the Arduino directly as a serial device
o LED attached to digital pin 13 for and easy debugging of code.

7. Ultrasonic Sensor
The Ultrasonic Sensor sends out a high-frequency

sound pulse and then times how long it takes for the
echo of the sound to reflect back. The sensor has
two openings on its front.
o Tiny speaker to transmit opening ultrasonic
waves
o Microphone to receive the ultrasonic waves
The ultrasonic sensor calculates distances by - fig 7.1

The speed of sound is approximately 341 meters per second in air. The ultrasonic sensor
uses this information along with the time difference between sending and receiving the
sound pulse to determine the distance to an object. It uses the following mathematical
equation:
𝑇i𝑚e 𝑥 𝑆𝑝ee𝑑 of 𝑆o𝑢𝑛𝑑

Distance =
2
Time = the time between when an ultrasonic wave is transmitted and
when it is received We divide this number by 2 since the sound wave
has to travel to the object and back.
The limitations of an ultrasonic sensor is some objects might not be detected it which are
shaped or positioned in such a way that the sound wave bounces off the object, but are
deflected away from the sensor.
It is also possible for the object to be too small to reflect enough of the sound wave
back to the sensor to be detected.
Objects can absorb the sound wave all together (cloth, carpeting, etc), which means that
there is no way for the sensor to detect them accurately.
These are important factors to consider when designing and programming a robotusing
an ultrasonic sensor

8. Testing the components
The Arduino has two different types of input pins, those being analog and digital. We
will focus on the Digital Input Pins.
To check the working of our ultrasonic sensor
o The serial monitor allows the computer to connect serially with the Arduino.
o It takes data that the Arduino is receiving from sensors and other devices and
displays it in real-time on the computer
o Having this ability is invaluable to debug the code and understand what
number values the chip is actually receiving.
o Navigate to File --> Examples --> 1.Basics --> AnalogReadSerial
o Click the button to engage the serial monitor which looks like a magnifying
glass. We can now see the numbers being read by the analog pin in the
serial monitor. When we turn the knob the numbers will increase and
decrease.
The numbers will be between the range of 0 and 1023. The reason for this is that the
analog pin is converting a voltage between 0 and 5V to a discreet number.
Digital inputs may be used as the basis for countless digital communication
protocols.
o By creating a 5V (HIGH) pulse or 0V (LOW) pulse, we can create a binary
signal, the basis of all computing.
o This is useful for talking to digital sensors like a PING ultrasonic sensor, or
communicating with other devices.
o For a simple example of a digital input in use, connect a switch from digital pin
2 to 5V, a 10K resistor from digital pin 2 to ground, and run the following code:
o File - Examples - 2.Digital - Button

o When the switch is pressed, the electrical connections in the switch has
less resistance than the resistor, and the electricity no longer connects to
ground. Instead, electricity flows between 5V and the digital pin.
o This is because electricity always chooses the path of least resistance.

9. Shields
o Shields are the expansion adapter boards that plug in over top of the Arduino
Uno and gives it special functions.
o Since the Arduino is open hardware, anyone who has the inclination is free to
make an Arduino shield for whatever task they wish to accomplish.
o Hence, there are countless number of Arduino shields available, out of which
the official ones are -
o Wireless SD Shield
o Ethernet Shield
o Motor Shield
10. Motor Shield

The Arduino Motor Shield allows the user
to easily control motor direction and speed
using an Arduino. Arduino pins are
straightforward and hence it makes it very
simple to incorporate a motor into a project.
It also allows you to be able to power a
motor with a separate power supply of up to 12V. fig 10.1
o The motor shield has 2 channels,

which allows for the control of two DC motors, or 1 stepper motor.
o An external power supply, the motor shield can safely supply up to 12V and
2A per motor channel
o There are pins on the Arduino that are always in use by the shield.
o By addressing these pins one can select a motor channel to initiate, specify
the motor direction (polarity), set motor speed (PWM), stop and start the
motor, and monitor the current absorption of each channel .
The pin breakdown is as follows:
Function Channel A Channel B
Direction Digital 12 Digital 13

Speed (PWM) Digital 3 Digital 11
Brake Digital 9 Digital 8
Current Sensing Analog 0 Analog 1

11. Procedure
11.1 Getting the hardware ready
o Switch it on and off and then look in to making the LED on the left of
Arduino with the letter L next to it blink on and off for 2 seconds at a time.
o The Arduino Uno requires a male USB A to male USB B cable. Plug the
USB cable in to the Arduino and your computer, the LED will start blinking. It
is the default program stored on the chip
o The USB cable powers the device. Arduinos can also run standalone by
using a power supply in the bottom left of the board.
o Once programming is done it does not require to be constantly connected to a
machine we can opt to power it separately. This is entirely dependant on the use
case and circumstances we want to use the device in.
11.2 Getting the software ready
o Download and install the Arduino IDE (integrated development environment).

The Arduino Programmer is based on the Processing IDE and uses a variation of
the C and C++ programming languages.
o Before doing anything in the Arduino programmer, set the board-type and
serial port.
o To set the board, go to the following:
o Tools - Boards
o Select Arduino Uno.
o To set the serial port, go to the following:
Tools - Serial Port

Select the serial port that looks like:
/dev/tty.usbmodem [random numbers]

11.3 Writing the code

To write an Arduino sketch or a code, some basic knowledge about C and
Embedded C should be known.
Some important things to look out for in an Arduino code are -
o An Arduino program is called a sketch.

o All lines of code in an Arduino sketch is processed from top to bottom.
o Arduino sketches are typically broken into five parts -
a. Header Usually, the sketch starts with a header that explains what the
sketch is doing, and the author.
b. Global variables Next, global variables are defined. Often, this is where
constant names are given to the different Arduino pins.
c. Setup Routine After the initial variables are set, the Arduino begins the setup
routine. In the setup function, we set initial conditions of variables when
necessary, and run any preliminary code that we only want to run once. This
is where serial communication is initiated, which is required for running the
serial monitor.
d. Loop From the setup function, we go to the loop routine. This is the main
routine of the sketch. This is not only where your main code goes, but it
will be executed over and over, so long as the sketch continues to run
e. Functions Below the loop routine, there are often other functions listed.
These functions are user-defined and only activated when called in the
setup and loop routine
o Code must be written in the Arduino Language, which is roughly based on C.

o Almost all statements written in the Arduino language must end with a ;
symbol. However, conditionals (such as if statements and for loops) do not
need a ;
o Variables are storage compartments for numbers. You can pass values into
and out of variables.
o Variables must be defined (stated in the code) before they can be used.

11.4 For this particular code,
1. First, we open the Arduino UNO App and type the following code.
The Arduino Sketch should look like this:
<pre>void setup() {
// put your setup code here, to run once:
void loop() {
// put your main code here, to run repeatedly:
2. Next, we put a header on the code, so other people know about what we are
making, why, and under what terms:
<pre>/*
Obstacle Avoiding Smartcar using
Arduino and Ultrasonic Sensors
Avoids obstacles by employing an ultrasonic sensors
This code is in the Public Domain
*/
void setup() {
// put your setup code here, to run once:
3. Then, we define the pin names, and establish variables, and write the code
<pre>/*
Obstacle Avoiding Smartcar using Arduino and Ultrasonic Sensors
Avoids obstacles by employing an ultrasonic sensors
This code is in the Public Domain
#include <ServoMotor.h>
AF_DCMotor right_motor(1,MOTOR12_8KHZ);
AF_DCMotor left_motor(2,MOTOR12_8KHZ);
const int trigPin = 4;
const int echoPin = 2;
String readString;
void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
Serial.begin(9600);
right_motor.setSpeed(250);
left_motor.setSpeed(250);
void loop() {
long duration, distance;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);

digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.41;
Serial.println(distance);
if (distance<30){
right_motor.run (BACKWARD);
left_motor.run (FORWARD);delay(500);
else{
right_motor.run (FORWARD);
left_motor.run (BACKWARD);
delay(500);

12. Schematic Diagram of the Model:-
Fig 12.1 Schematic

13. Working
o The robot is switched on by giving it 5V DC power from an external battery.

The motors starts rotating and thus the robot starts moving forward.
o During this time, the ultrasonic sensors continuously keep calculating the
distance between the robot and the reflective surface.
o This information gets processed by the ARDUINO.
o If the distance between the robot and the obstacle is less than the specified value,
the robot changes its path(moves towards the back).Here, we have kept the
minimum distance to be of 15cm.
o This process continues forever and the robot keeps moving without danger.
Fig 13.1

14. Applications
o The modification of this logic code is used in vacuum cleaners.

o This robot can be used for avoiding concealed paths, such as an industrial
robot in a factory is expected to avoid workers so that it won’thurt them
o It will be very useful in parking system.
o It can also be used in assembling automobiles and in chemical
industries.
o If there is an obstacle in the root of the robot, it can detect and avoid it. Thus
it can move without having damaged by any obstacle which makes it more
reliable
o They have great importance in scientific exploration and emergency
rescue, there may be places that are dangerous for humans or even
impossible for humans to reach directly, then we should use robots to help
us gather information to about their surrounding challenging
environments.
15. Further implementations –
o This technique can also be used as a vision belt for blind people by
changing the ultrasonic sensor by a kinetic sensor ,which is a type of
microwave sensor whose sensing range is very high and the output of this
sensor vary in according to the object position changes. This technique
enables blind people to navigate obstacles easily by placing three vibratos
in left, right and the centre of a belt named as Vision Belt.
o On top of obstacle avoiding robot temperature/ pressure sensors can be added
to monitor the atmospheric conditions around. This is useful in places where
the environment is not suitable for humans. Same technology can be used in
various applications by modifying the programfor example Line / Path finder
Robot , automatic vacuum cleaner etc.

15.1 Flowchart

16. Project Contributions
 Asset Management Team Members

S.No. Name Enrollment no. Role
1. Yogesh Paliwal 0176EC221028 Leading Asset Buying members
2. Suresh Kumar 0176EC221025 Searching the necessary items for
3. Abhishek Kumar Singh 0176EC221003 the Robot.
4. Abhimanyu Kashyap 0176EC221001
5. Aman Yadav 0176EC221004
6. Vivek Kumar Mehto 0176EC221027
 Designing And Assembling Team Members

7. Apoorv Malviya 0176EC221007 Leading the Assembling Of Robot
8. Ashish Singh Rajput 0176EC221008 Designing the framework of the
9. Mohd Zaid 0176EC221013 Robot and assembling it.
10. Meghansh Saxena 0176EC221012
11. Sarvesh Kumar 0176EC221019
12. Naresh Kumar Kurmi 0176EC221014
13. Atul Namdeo 0176EC221009
14. Siddharth Singh 0176EC221024
15. Ayush Rathore 0176EC221010
16. Abhishek Baghel 0176EC221002
 Coding Members

17. Shubhi Mishra 0176EC221023 Leading the Coding work
18. Om Bharadwaj 0176EC221015 Framing the coding work of the
19. Satyam Kumar Srivastava 0176EC221020 Robot.
20. Tanzeena Hussain 0176EC221026
 Report and paper work team members

21. Anjali Prajapati 0176EC221005 Leading Report Work
22. Shreya Kumari 0176EC221022 Creating the stunning report of the
23. Khushi Jaiswal 0176EC221011 project for best presentation.
24. Shivansh Mishra 0176EC221021
25. Anubhav Puri 0176EC221006
26. Rahul Kumar 0176EC221017
27. Rahul Agrawal 0176EC221016
28. Aditya Kumar Jha 0176EC2210

17. Expectation And Applications

 Used in mobile robot navigation systems.
 Used in mobile robot navigation systems.
 Used for household work like automatic vacuum cleaning.
 Used in dangerous environments, where human penetration could be fatal.
 Automatic change overs of traffic signals.
 Intruder alarm system.
 Counting instruments access switches parking meters.
 Back sonar of automobiles.

18. Shortcomings And Limitation
Obstacle avoidance is a primary requirement of any autonomous robot. Obstacle avoidance

robot is design to allow robot to navigate in unknown environment by avoiding collisions
.Obstacle avoiding robot senses obstacles in the path ,avoid it and resumes its running.
There are some very common methods for robot navigation like wall-following, edge
detection, line following. One of the commercial systems uses wall following
method on a floor cleaning robot for long hallways. A more general and commonly
employed method for obstacle avoidance is based on edge detection. A disadvantage with
obstacle avoidance based on edge detecting is the need of the robot to stop in front of an
obstacle in order to provide a more accurate measurement.
All mobile robots feature some kind of collision avoidance, ranging from primitive
algorithms that detect an obstacle and stop the robot in order to avoid a collision, using
some sophisticated algorithms, that enable the robot to detour obstacles

19. Conclusion And Future Scope
This project developed an obstacle avoiding robot to detect and avoid obstacles in its path.
The robot is built on the Arduino platform for data processing and its software counterpart
helped to communicate with the robot to send parameters for guiding movement.
For obstacle detection, three ultrasonic distance sensors were used that provided a wider
field of detection. The robot is fully autonomous and after the initial loading of the code, it
requires no user intervention during its operation. When placed in unknown environment
with obstacles, it moved while avoiding all obstacles with considerable accuracy. In order
to optimize the movement of the robot, we have many considerations for improvement.
However, most of these ideas will cost more money and time as well. In future cameras can
be used to detect the obstacle however, it is better to get CCD or industrial use ones to get
clear and fast pictures. Even the ones we mentioned in the camera holder part will be better
because of the special software.

20. Literature Survey
Obstacle avoidance bot using arduino has been designed and developed by Aamir attar,
Aadilansari, Abhishekdesai, Shahid khan, Dipashrisonawale to create an autonomous robot
which intelligently detects the obstacle in its path and navigates according to the actions
that user set for it. So this system provides an alternate way to the existing system by
replacing skilled labor with robotic machinery, which in turn can handle more patients in
less time with better accuracy and a lower per capita cost.
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 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
methodologies have been analyzed and reviewed with their merits and demerits under
various operational and functional strategies. Features like user friendly interface, light
weight and portability of android OS based smart phone has overtaken the sophistication of
technologies like programmable glove, static cameras etc., making them obsolete.

ANNEXURE I
21. Impact On Society
To ensure both the physical and mental safety of humans during human-robot
interaction (HRI), a rich body of literature has been accumulated, and the notion
of socially acceptable robot behaviors has arisen. To be specific, it requires the
motion of robots not only to be physically collision-free but also to consider and
respect the social conventions developed and enforced in the human social
contexts.
Among these social conventions, personal space, or proxemics, is one of the
most commonly considered in the robot behavioral design. Nevertheless, most
previous research efforts assumed that robots could generate human-like
motions by merely mimicking a human. Rarely are the robot’s behavioral
algorithms assessed and verified by human participants.
Therefore, to fill the research gap, a Turing-like simulation test, which contains
the interaction of two agents (each agent could be a human or a robot) in a
shared space was conducted. Participants (33 in total) were asked to identify
and label the category of those agents followed by questionnaires.
Results revealed that people who had different attitudes and prior expectations
of appropriate robot behaviors responded to the algorithm differently, and their
identification accuracy varied significantly. In general, by considering personal
space in the robot obstacle avoidance algorithm, robots could demonstrate more
humanlike motion behaviors which are confirmed by human experiments.

ANNEXURE II
22. Environment And Sustainability
While self-driving or autonomous vehicles have become more capable of

understanding the effect of obstacle avoidance in the sustainability of the
environment and have been studied extensively in recent years, there have been few
attempts to systematically quantify the effect Approved for public release;
distribution unlimited. Of environmentally induced errors from sources such as
dust, rain, and soft soil on the performance of these vehicles. While the struggle of
these vehicles with these environmental conditions has been well documented,
qualitatively, there has been relatively little quantitative evaluation of these effects.
Past work in quantitative error measurement tends to focus either directly on the
sensor data or on the overall system-level performance.
For example, there have been several studies that quantify the influence of
phenomena like rain or snow on lidar sensor performance. Similarly, there have
been some laboratory studies on the effect of dust on lidar. System-level analyses
have focused on high-level metrics like average speed or distance traveled. While
there is value in sensor-level or system-level error studies, an understanding of how
error propagates through the chain of autonomous subsystems is also needed. How
do errors in lidar sensors operating in rainy conditions affect the point cloud, the
navigation m aps derived from the point cloud, and the path planned through those
maps? Is there a level of rain for which the resulting path and map are not
significantly affected, and at what rain rates would errors start to manifest in the
planned path? Answering these questions is critical as self-driving vehicles
transition to the consumer market.

23. COST ANALYSIS
S.No Material Quantity Marked GST (in Discount Final

price (in %) (in price on
rupees) Rupees) product
(in
Rupees)
1 Bio Motor (40 rpm) 4 250 - 0 250

2 Wheel 4 100 - 0 100
3 Robot Base 1 80 - 20 60
3 Servo Motor 1 250 - 0 250
4 Ultrasonic Sensor 1 100 - 0 100
5 Motor driver L298d 1 300 - 50 250
6 Arduino UNO 1 600 - 0 600
7 UNO cable 1 200 - 0 200
8 12V, 2.5Ah Battery 3 600 - 70 530
9 Solder Wire 1 100 - 0 100
10 Solder Paste 1 200 - 60 140
11 Glue Gun & Stick 2 50 - 0 50
12 Solder iron 1 500 - 0 500
13 Double Sided Tape 1 100 - 0 100
14 IC 7805 1 60 - 0 60
15 Led Red 2 200 - 60 140
16 On/Off Switch 1 100 - 0 100
17 1m Rainbow Wire 1 100 - 0 100
18 Voltage Regulator 1 150 - 20 170

Total cost summary:

Section Title MRP Discount Final Price
(in rupees) (in rupees)
A Hardware component
B Rented Material
C Report Making
TOTAL

24. Reference

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OBSTACLE AVOIDING ROBOT CAR

OBSTACLE AVOIDING CAR USING ARDUINO AND

MINI PROJECT REPORT

Under the guidance of:

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

VISION OF THE INSTITUTE

MISSION OF THE INSTITIUTE

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

VISION OF THE DEPARTMENT

MISSION OF THE DEPARTMENT

 To strengthen the department by collaborating with industry and research

 To facilitate the students to work in interdisciplinary environment and enhance their

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

PROGRAM EDUCATIONAL OBJECTIVES (PEO)

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

This is to certify that the work embedded in this project entitled

Under the supervision of

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

This forging project work is hereby approved as a candidate study of an

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

We, The students of LNCT-E in Bachelor of Technology, Electronics

Apoorv Malviya (0176EC221007)

Shubhi Mishra (0176EC221023)

Department Of Electronics And Communication Engineering

Lakshmi Narain College Of Technology, Excellence, Bhopal

We express our heart-felt thankfulness to Dr. Abhinav Bhargava,

Department Of Electronics And Communication Engineering

1.Obstacle Avoiding car using Arduino and Ultrasonic Sensors

Department Of Electronics And Communication Engineering

Department Of Electronics And Communication Engineering

o Robot detects obstacles and avoids them in the trajectory

Department Of Electronics And Communication Engineering

Arduino Uno Chassis Ultrasonic Sensors

Jumper Wires 5V Power Supply Castor Wheel

Wheels X2 Stepper Motors Motor Shield

Department Of Electronics And Communication Engineering

5.Features of the components used

6. Arduino Uno Microcontroller

Some of the key features of the Arduino UNO includes :

o Open source design. Large community at arduino.cc/forum/ of people using and

Department Of Electronics And Communication Engineering

The Ultrasonic Sensor sends out a high-frequency

The ultrasonic sensor calculates distances by - fig 7.1

𝑇i𝑚e 𝑥 𝑆𝑝ee𝑑 of 𝑆o𝑢𝑛𝑑

Department Of Electronics And Communication Engineering

8. Testing the components

o File - Examples - 2.Digital - Button

Department Of Electronics And Communication Engineering

10. Motor Shield

o The motor shield has 2 channels,

The pin breakdown is as follows:

Function Channel A Channel B

Direction Digital 12 Digital 13