This document describes the design of an obstacle avoiding robot. It uses ultrasonic sensors and an Arduino microcontroller to detect obstacles and navigate around them autonomously. The hardware components include ultrasonic sensors, an L293D motor driver, DC motors, and an Arduino Uno. The robot is programmed using the Arduino IDE to scan its surroundings with the ultrasonic sensors, detect any obstacles, and maneuver around them by controlling the motors. The goal is to create a robot that can intelligently avoid obstacles on its own without human guidance.

1. OBSTACLE AVOIDING ROBOT
Mini Project work submitted in partial fulfillment of the
requirements for the degree of
Master of Science in computer science
To
Thiruvalluvar University, Serkkadu, Vellore - 632115
By
ANTONY JOSEPH RAJ C
35818P15002
October 2019
Don Bosco College (Co-Ed)
(AFFILIATED TO THIRUVALLUAR UNIVERSITY)
Yelagiri Hills – 635853

2. ABSTRACT
The project is design to build an obstacle avoidance robotic vehicle using ultrasonic
sensors for its movement. A micro-controller is used to achieve the desired operation.
A robot is a machine that can perform task automatically or with guidance. Robotics
is a combination of computational intelligence and physical machines (motors).
Computational intelligence involves the programmed instructions.
This robot or a smart car is built to sense any obstacle in its path, to avoid it and
resume 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.

3. INTRODUCTION:
An obstacle avoiding robot is an intelligent device, which can automatically sense and
overcome obstacles on its path. Obstacle Avoidance is a robotic discipline with the objective of
moving vehicles on the basis of the sensorial information. The use of these methods front to classic
methods (path planning) is a natural alternative when the scenario is dynamic with an unpredictable
behaviour. In these cases, the surroundings do not remain invariable, and thus the sensory
information is used to detect the changes consequently adapting moving. It will automatically scan
the surrounding for further path.

4. EXISTING SYSTEM:
An simple robot, steering algorithm is used for robotic actions in which driver or a human
being is controlling the robot using remote. Here driver is present, who can see the obstacle and
navigate robot accordingly.

5. PROPOSED SYSTEM:
The project proposes a autonomous robotic vehicle, In which no remote is used for
controlling the robotic actions. It intelligently detects obstacles present on its path through the
sensors, avoid it and take decision on the basis of internal code that I set for it.

6. WORKS ON PROJECT:
DESIGN ROBOT:
Obstacle Avoiding Robot is an intelligent device which can automatically sense the
obstacle in front of it and avoid them by turning itself in another direction. An design of the Obstacle
Avoiding Robot to…,

7. HARDWARECONFIGURATION:
1. Arduino Uno
2. Ultrasonic Range Sensor – HC – SR04
3. Motor Driver IC – L293D
4. DC Motors x 2
5. Power Batteries
6. Jumper Wires
7. Arduino Uno Wheels and Car CAD

8. 1.ArduinoUno:
The Arduino Uno is an open source
microcontroller board based on the Microchip
ATmega328P microcontroller and developed by
Arduino. The board is equipped with sets of
digital and analog input/output (I/O) pins that may
be interfaced to various expansion boards (shields)
and other circuits.
2. Ultrasonic sensor:
Ultrasonic sensor are devices that use
electrical–mechanical energy transformation to
measure distance from the sensor to the target
object. Ultrasonic waves are longitudinal
mechanical waves which travel as a sequence of
compressions and rarefactions along the direction
of wave propagation through the medium.

9. 3. Motor Driver IC – L293D:
Arduino board is connected with DC Motor
through Motor driver board(pin10, pin11,
pin12, pin13)which provide power to the
actuators. Actuators are used to move robot in
Forward, Backward, Left and Right
directions.
4. DC Motors x 2 :
DC motors normally have just two leads,
one positive and one negative. If you connect
these two leads directly to a battery, the motor will
rotate. If you switch the leads, the motor will
rotate in the opposite direction.

10. SOFTWARESPECIFICATION:
Arduino is an open-source electronics platform based on easy-to-use hardware and
software. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a Twitter
message - and turn it into an output - activating a motor, turning on an LED, publishing something
online. You can tell your board what to do by sending a set of instructions to the microcontroller on
the board. To do so you use the Arduino programming language, and the Arduino Software IDE
based on processing.

11. CIRCUIT DIAGRAM:

12. FLOWCHAT PROCESS:

13. CONCLUSION:
The goal of My project is to create a autonomous robot which intelligently detects the
obstacle in his path and navigate according to the actions that I set for it.
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.