This document describes an obstacle avoiding robot. The robot uses an Arduino Uno microcontroller, ultrasonic sensor, DC motors, motor driver module, and other components. It measures distance to obstacles using the ultrasonic sensor and triggers different motor movements to avoid obstacles. The connections and code are provided to trigger the motors to move forward when no obstacle is detected and turn when an obstacle is close, helping the robot avoid collisions during movement.

1. Obstacle Avoiding Robot
 Objective: -
The main aim of this study is to design
and develop an “Obstacle Detection System for Vehicles on
Road.”capable of reducing the increasing number of vehicular
accidents in our highways.
 Software required: -
i. Arduino IDE
 Arduino Uno: -

2. Arduino is an open-sourceplatform
used for building electronicsprojects. The Arduino UNO is an
open-sourcemicrocontrollerboard based on the Microchip
ATmega328P microcontrollerand developed by Arduino.cc.
o It can be powered by a USB cable or by an external 9-volt
battery, though it accepts voltages between 7 and 20 volts.
Requirements: -
Chassis OR any toy car.
Arduino UNO/Mega.
Ultrasonic sensor HC SR-04.
2 DC motors.
9V/12V 1A battery.
Motordriver moduleL298.
Jumpers.
Single stranded wires.
Procedure: -
So yes, I’m going to divide the whole making into 4 part
Connectionsof Ultrasonic-sensor → Connectionsof L298N
→ Code → Testing

3. Connections: -
CIRCUIT DIAGRAM: -

4. Ultrasonic Sensor: -
 Connections for Obstacle avoiding
robot: -
 Connectionsof Ultrasonic-sensor:-
i) VCC – VCC terminal of Arduino.
ii) GND – GND terminal of Arduino.
iii) Trigpin – digital pin 9 on Arduino.
iv) Echo pin – digital pin 10 on Arduino.
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 calculatethe distance between the
sonar sensor and the object.

5. Motor Driver L298N: -
Pulse width modulation (PWM), or pulse-duration modulation (PDM), is a method of reducing .... The
simplest way to generate a PWM signal is the intersective method, which requires only a sawtooth or a
triangle .... electronic circuitry which suppresses current flow during defined portions of each cycle of the
AC line voltage

6. Connections of L298N: -
i. +12V – Positive terminal of the battery.
ii. GND – a) GND of Arduino b) Negative terminal of
battery.
iii. Input terminal 1 – Pin 4
iv. Input terminal 2 – Pin 5
v. Input terminal 3 – Pin 6
vi. Input terminal 4 – Pin 7
vii. Output terminal 1 – Positive of first motor.
viii. Output terminal 2 – Negative of first motor.
ix. Output terminal 3 – Positive of second motor.
x. Output terminal 4 – Negative of second motor.
Coding: -
int trigPin = 9;
int echoPin = 10;
int revright = 4; //REVerse motion of Right motor
int fwdleft = 7;
int revleft= 6;
int fwdright= 5; //ForWarD motion of Right motor
int c = 0;
void setup() {
//Serial.begin(9600);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(4, OUTPUT);
pinMode(7, OUTPUT);
pinMode(trigPin, OUTPUT);

7. pinMode(echoPin, INPUT);
// put your setup codehere, to run once:
}
void loop() {
long duration, distance;
digitalWrite(trigPin,HIGH);
delayMicroseconds(1000);
digitalWrite(trigPin, LOW);
duration=pulseIn(echoPin, HIGH);
distance =(duration/2)/29.1;
//Serial.print(distance);
//Serial.println("CM");
delay(10);
if((distance>20))
{
digitalWrite(5,HIGH); // If you dont get propermovements of your
robot,
digitalWrite(4,LOW); // then alter the pin numbers
digitalWrite(6,LOW); //
digitalWrite(7,HIGH); //
}
else if(distance<20)
{
digitalWrite(5,HIGH);
digitalWrite(4,LOW);
digitalWrite(6,HIGH); //HIGH

8. digitalWrite(7,LOW);
}
}
.Project final shape: -
Submitted By: Muhammad Faseeh