This document summarizes the improvements, parts purchased, and testing for an autonomous guided vehicle (AGV) obstacle avoidance system using Arduino. It was improved by using two Arduinos instead of one for lower cost. Parts purchased included Arduino Unos, ultrasonic sensors, IR sensors, and DC gear motors. The ultrasonic sensors were tested with a trial program to read their distances and trigger LEDs if obstacles were detected within certain ranges in front, left, or right.

1. IMPROVEMENTS
MADE FROM
ALREADY
PROPOSED
VERSION
 Planed to add liquid level sensor to sense the sanitizer level for
refilling.
 Planned to use two Arduino UNO to reduce the overall cost of the
project instead of using Arduino MEGA.

2. PARTS
PURCHASED
 ARDUINO UNO
 ULTRASONIC SENSORS
 IR SENSORS
 DC GEAR MOTORS

3. ARDUINO
UNO  Arduino Uno is a microcontroller board based on the ATmega328P
.
 It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz ceramic resonator
(CSTCE16M0V53-R0), a USB connection, a power jack, an ICSP
header and a reset button.
 The ATmega328 on the Arduino Uno comes preprogrammed with
bootloader that allows you to upload new code to it without the use
of an external hardware programmer.

4. IR SENSOR
 The IR Sensor Module or infrared (IR) sensor is a basic and most
popular sensor in electronics.
 It is used in wireless technology like remote controlling functions
and detection of surrounding objects or obstacles. IR sensors mainly
consist of an Infrared(IR) LED and a Photodiode, this pair is
generally called IR pair. An IR LED is a special purpose LED, it is
can emitting infrared rays ranging from 700 nm to 1 mm
wavelength.
 These types of rays are invisible to our eyes. In contrast, a
photodiode or IR Receiver LED detects the infrared rays.

5. DC GEAR
MOTOR
 A gear motor is an all-in-one combination of a motor and gearbox.
The addition of a gear head to a motor reduces the speed while
increasing the torque output.
 The most important parameters in regards to gear motors are speed
(rpm), torque (nm) and efficiency (%). In order to select the most
suitable gear motor for your application you must first compute the
load, speed and torque requirements for your applications.
 Most of our DC motors can be complemented with one of our
unique gearheads, providing you with a highly efficient gear motor
solution.

6. ULTRASONIC
SENSOR [HC-
SR04]
 The HC-SR04 ultrasonic sensor uses sonar to determine the
distance to an object. This sensor reads from 2cm to 400cm (0.8inch
to 157inch) with an accuracy of 0.3cm (0.1inches). In addition, this
particular module comes with ultrasonic transmitter and receiver
modules.
 The ultrasound transmitter (trig pin) emits a high-frequency sound
(40 kHz).
 The sound travels through the air. If it finds an object, it bounces
back to the module.
 The ultrasound receiver (echo pin) receives the reflected sound
(echo).

7. TRIAL
PROGRAM
FOR
READING
ULTRASONIC
SENSOR
READING
#define trigPin1 2
#define echoPin1 3
#define trigPin2 4
#define echoPin2 5
#define trigPin3 6
#define echoPin3 7
#define RLED 8
#define FLED 9
#define LLED 10
long duration, distance, RightSensor,FrontSensor,LeftSensor;
void setup()
{
Serial.begin (9600);
pinMode(trigPin1, OUTPUT);
pinMode(echoPin1, INPUT);
pinMode(trigPin2, OUTPUT);
pinMode(echoPin2, INPUT);
pinMode(trigPin3, OUTPUT);
pinMode(echoPin3, INPUT);
}
void loop() {
SonarSensor(trigPin1, echoPin1);
RightSensor = distance;
SonarSensor(trigPin2, echoPin2);
FrontSensor = distance;
SonarSensor(trigPin3, echoPin3);
LeftSensor = distance;
Serial.print(LeftSensor);
Serial.print(" ");
Serial.print(FrontSensor);
Serial.print(" ");
Serial.println(RightSensor);
LeftSensor <= 60 || RightSensor <= 60 || FrontSensor <= 50)
{
if (LeftSensor < RightSensor)
{
digitalWrite (RLED,HIGH); // turn left as hard as closeness
increses
delay(1000);
digitalWrite (RLED,LOW);
}
else if (RightSensor < LeftSensor)
{
digitalWrite (LLED,HIGH); // turn left as hard as closeness
increses
delay(1000);
digitalWrite (LLED,LOW);
}
if (FrontSensor <= 24 )
{
digitalWrite (FLED,HIGH);
delay(1000);
digitalWrite (FLED,LOW);
}
}
}
void SonarSensor(int trigPin,int echoPin)
{
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration * 0.032)/2;
}

8. TESTING OF
ULTRASONIC
SENSORS
• Three ultrasonic sensors are connected to the Arduino uno board
for testing with the help of jumper cables during developing the
obstacle avoidance system of the AGV.

9. THANK YOU