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OBSTACLEA
VOIDING ROBOT
RV Collegeof
Engineering
Go, change the world
Project work atRVCE
Minor Project Final Presentation
Dept of Mech. Engg.
Students Name and USN no.
•Sadashiva Hebbal 1RV18ME091
•Shashank D D
•Gagan Shetty
•Nithin G
1RV18ME098
1RV17ME029
1RV16ME072
Internal Guide
Sujan Chakraborty
Associate Professor
MechanicalDepartment
RVCE
Moderator
Dr. Bharatish A
Associate Professor
Mechanical
Department RVCE

RV College of
Engineering
Overview of the presentation
1. Introduction / Motivation
2. Objective of the research
3. Methodology
4. Selection of Materials / Selection of model / Selection of sensor / selection of Software
5. Design procedure
6. Project progress photos or videos for each task
7. Conclusion
8. Milestones.

RV College of
Engineering
INTRODUCTION
• We proposed a robot that avoids the obstacle which comes in its path. This robot is
introduced to avoid collision like in cars or mars rover.
• With this we got idea and we introduced the robot named as Obstacle avoidance
robot using Arduino. Obstacle avoiding robot is designed to allow robot to navigate
in unknown environment by avoiding collisions.
• It senses obstacles in the path, avoids it and resumes its running. We have used
sensors to achieve this objective. The construction of the robot circuit is easy and
small. The idea proposed in this paper is by using machine vision to guide the robot.
The field of machine vision has growing at a fast pace.
• Machine vision applications can be divided into four types from a technical point of
view. They can be used to locate measure, inspect and identify. The robot proposed
in this paper is guided with the help of machine vision. The best part of our project is
that if any obstacle is encountered by the robot the robot automatically stops.

RV College of
Engineering
MOTIVATION
•Market Motivation: The ability to avoid obstacles automatically is an important part of
intelligent robotic vehicles, and creates a safety assurance for future travel.
•Industrial Motivation: Obstacle Avoidance is the lowest, or zeroth, level of competence,
meaning it is the core functionality of a mobile robot system upon which everything else
depends.
be the most suitable for obstacle
•Research Motivation: An ultrasonic sensor would
detection.
•Societal motivation: If a robot can be made to avoid coming into contact with objects in the
environment, then other higher-level capabilities can safely incorporated into the system.
•Knowledge Motivation: During execution of the project, students learn about Aduino-uno
IDE, AF Motor library, New ping library, Ultra-sonic sensor library.
•Environmental Motivation: Curb air pollution, Avoid physical contact in Pandemic situations,
reusable & recyclable.

RV College of
Engineering
Objective of the research
• Design a model of a Car which can avoid obstacle using Arduino tool and
Ultra sonic sensor.
• Design a system which senses obstacles in the path
• Avoiding the obstacles in the path
• To optimize the design and program

RV College of
Engineering
Methodology
• The purpose of this project is to develop a robot with an obstacle avoidance
capability . The robot will be built as a fully autonomous vehicle with on board sensor
to get information about the surrounding environment
• The robot has an ultrasonic sensor which is mounted in front of it to scan the front
environment. The ultrasonic sensor will trigger a signal to the main controller, Which
is an Arduino UNO controller when detect the obstacle in the path. The motion of an
robot will be controlled y one servo motor.
The other two wheel will
• The servo motor will change the direction of the robot.
only for motion purpose.
• The stepper motor will be only run forward without influence by obstacle sensed by
ultra sonic sensor.

RV College of
Engineering
Methodology
Sensors Controller
Motor
Drive
Left
Motor
Right
Motor

RV College of
Engineering
Selection of Materials / Selection of Model / Selection of Sensor /
Selection of Software
Software userinterface
Arduino uno
Arduino UNO Board or Genuino UNO Board is an open-source microcontroller board
based on ATmega328p chip. Arduino UNO features 14 digital I/O pins (6 pins can be used as PWM),
6 analogue inputs, a 16 MHz quartz crystal, a USB connection, Power Jack and a Reset Button
Components of Arduino UNO
Micro Controller.
USB Connector .
Power Port .
USB Interface Chip .
Digital I/O Pins .
Analog Input Pins .
Power Pins.
Power Pins .
Master Reset Button.
ICSP Header Pins .

RV College of
Engineering
ULTRASONIC SENSOR
An Ultrasonic sensor is a device that can measure the distance to an object by using sound waves. It measures
distance by sending out a sound wave at a specific frequency and listening for that sound wave to bounce back. By
recording the elapsed time between the sound wave being generated and the sound wave bouncing back, it is
possible to calculate the distance between the sonar sensor and the object.
How Ultrasonic Sensor Can Be Used toAvoid Obstacles,
1.The basic principle behind the working of ultrasonic sensor is to note down the time taken by sensor to transmit
ultrasonic beams and receiving the ultrasonic beams after hitting the surface.
2. HC-SR04 Ultrasonic Sensor is used in this project.
3. Acrylic sheets are used for chassis .
4. Arduino is attached to the chassis.
This arduino has pre coded program in it so that.
Arduino is an open-source computer hardware and software company, project, and user community .
5. Fix the car and attach it with a battery and you are al set go with model.

RV College of
Engineering
MOTOR AND MOTOR CONTROLLER
Motor driver - L293D: The L293D is a single H-Bridge motor driver which allows speed and direction
control of two DC motors at the same time. The module drives DC motors that have voltages between
3.5V to 5V, with a peak current up to 2A.

RV College of
Engineering
SOFTWARE
Arduino UDE
Arduino UDE software is used to write code for the integration of sensors and
actuators with the help of C++ coding
Click to addtext

RV College of
Engineering
OBSTRUCTION DETECTION SYSTEM
Design procedure
An ultrasonic sensor is used for obstruction detection. The Arduino stops the AGV
when the obstruction signal is given by thissensor.
The ultrasonic sensor sends the signal to theArduino when an obstruction is at a
distance of 10cm from the AGV by emitting a 4 MHz ultrasonic signal

RV College of
Engineering
Design procedure

RV College of
Engineering
Design procedure
ACTUATIONSYSTEM
The motor controller L293D is connected to the Arduino, then both DC motors are connected to
the motor controller. The motor controller allows speed and direction control of the motors
simultaneously. The code fed to the Arduino controls the gear motor through L293D using the
concept of Pulse Width Modulation with the help of the H bridge in the motor controller.

RV College of
Engineering
Design procedure
ASSEMBLY
In this step the components of obstacle avoidance car
wiring the components takes place.
are assembled on the chassis.And the

RV College of
Engineering
Project Progress
OBSTRUCTION SENSING SYSTEM
Codes for obstructionsensing is ready & optimized. It worked successfully in the test run.
Obstruction sensing system is integrated to the AGV and the integration code is ready.

RV College of
Engineering
Video Demonstration
Testing phase photos of the obstacle avoiding robot
of the
working of our obstacle avoiding
robot
https://drive.google.com/folderview?id=1U4k_wQVuq8SqLzuL
3O3UlkUHtAv2VrDi

RV College of
Engineering
Conclusion
• Conclusion:
1. We are successful in implementing the line following system based on the ultrasonic sensor and arduino uno
2.The Ultrasonic sensor and ardunio uno chip work together and help in finding the obstacles in its course and
changes it direction
3.The sensor system and uno chip has played a pivotal role in setting up a completely autonomous system. Thus
creating a safe manufacturing environment for both humans and machines.

RV College of
Engineering
Milestone

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