**Obstacle Avoidance Robot: Design and Development** ### **Introduction** Obstacle avoidance is a fundamental requirement for autonomous robots to navigate their environments efficiently and safely. An **Obstacle Avoidance Robot** (OAR) is designed to detect and avoid obstacles while moving through a predefined or unknown space. These robots have applications in various fields such as industrial automation, search and rescue operations, autonomous vehicles, and home automation. The primary goal of an obstacle avoidance system is to enable the robot to move independently without human intervention while preventing collisions. ### **Working Principle of an Obstacle Avoidance Robot** The obstacle avoidance robot relies on sensors to detect obstructions in its path and makes real-time decisions to navigate safely. The general working principle involves: 1. **Sensor Detection:** The robot uses sensors such as ultrasonic, infrared (IR), or LiDAR to scan its surroundings. 2. **Data Processing:** The data from the sensors is processed using a microcontroller or an onboard computer to identify potential obstacles. 3. **Decision Making:** Based on the sensor input, an algorithm determines the best possible path to avoid obstacles. 4. **Actuation:** The motor driver executes the movement commands, steering the robot away from obstructions. ### **Components of an Obstacle Avoidance Robot** #### **1. Sensors** - **Ultrasonic Sensors:** Emit sound waves and measure the time taken for the echo to return, allowing for distance measurement. - **Infrared Sensors:** Detect objects by measuring the reflection of IR rays. - **LiDAR (Light Detection and Ranging):** Provides a high-resolution 3D map of the surroundings by measuring reflected laser light. - **Camera/Vision Sensors:** Used in advanced robots to detect and classify obstacles using image processing. #### **2. Microcontroller or Processor** - **Arduino:** Commonly used for basic robots due to ease of programming and affordability. - **Raspberry Pi:** Preferred for robots that require image processing and machine learning. - **Microcontrollers like PIC or STM32:** Used in real-time embedded systems for fast decision-making. #### **3. Motor Driver and Actuators** - **DC Motors or Servo Motors:** Drive the wheels or legs of the robot. - **Stepper Motors:** Used for precise movement control. - **Motor Driver Circuit:** Controls the power and direction of motors (e.g., L298N, H-Bridge circuits). #### **4. Power Supply** - **Battery Pack:** Lithium-ion or lead-acid batteries provide power. - **Solar Panels:** Used for sustainable energy in outdoor applications. #### **5. Software and Algorithms** - **Embedded C/Python:** Programming languages used for robot control. - **Artificial Intelligence (AI) and Machine Learning

2. Introduction
1 Line-tol1owor
Robot)
What is a line follower?
•Line follower is a robot that can
follow a path. The path can be
visible like a black line on a white
surface tor vice-versa).
2

3. Hardware Components
• IR Sensors
• DC Geared Motors
• Robot Chasis
• Microcontroller development board
• Atmega 8 Microcontroller
• USB Programmer
3

4. IR Sensor

5. Every sensor has three
terminals
•VCC - to power up the
sensor
•GND - to provide a
fixed negative
reference
•OUTPUT - analog
output of the sensor
OUTPU
T
Block Diagram
GND
vcc

6. Working
• IR sensor works on the principle of emitting IR
rays and receiving the reflected ray by a receiver
(Photo Diode)
I
I
3mm
TX RX
5 mm
TX RX
LED
PHOTO OIOOE

7. IR Sensor
circuit
Voltage
comparator
»---
I-..._.,
/ I
>----I>

8. Types of resistor
=r
·•===
===
• Fixed type resistor
• Variable type resistor

9. LM358
• The LM358 IC consists of two independent
operational amplifiers which were designed
specifically to operate from a single power
supply over a wide range of voltages.
• It have two op-amp
• Single power supply

10. LM358 IC
10UT 1
1IN- 2
11N+
3
GND
4
a
Vee
7 20UT
6 21N-
5
21N+

11. Internal
circuit
A
OUiPUi
1
1
s
V+
A•I NPUi 2
+
1 B
OUiPU
i
- 6 B·I
NPUi
5 B + I
NPUi
-
11

12. • Motors having
external gear
arrangement attached
with motor.
• It has a gearbox that
increases torque and
decreases speed.
• Most commonly used
in robotics as they are
having considerable
torque.
DC geared motors
12

13. DC Motors
• Motors which works on de
current
rotating
output.
and gives a
motionas an
• In robotics applications,
they are preferred
over AC motors as the
motor and the complete
circuit require same
kind of supply i.e. DC
supply.

14. Chasis
• Provides a base
to the robot.
• Wheels, sensors
and controller
board are
attached to it.

15. IC's
• L293D
• LM358
•IC 7805(voltage
controlled)

16. IC 7805
• It is a voltage regulator integrated circuit.
• It designed to automatically maintain a
constant voltage level
Input -
rob
o
16

17. Thank You