This project aims to develop an obstacle detection and avoidance system for a self-driving car using a smartphone. An IOIO board is used to interface between the smartphone and a remote control car loaded with servos and IR sensors. The android application sends control commands like start, stop, left, right to the IOIO board via WiFi. The IR sensors detect obstacles within 1-5 meters and prevent movement in that direction. A webcam displays the car's movement to the smartphone. The system allows remote control of the car and detection of obstacles to avoid accidents.

2. .• Project overview
• Project Goals
• Function Requirement
• Non-function Requirement
• Block diagram
• Content of hardware
• Content of android phone
• Working of project
• Advantages
• Applications
• Future scope
• Conclusion
• References

3. The project is designed to develop a obstacle detection
and avoidance system for self-driving car using
Smartphone.
The robotic vehicle is loaded with servos , IR sensor ,
IOIO board and webcam.
At the transmitting end using android application
device, commands are sent to the receiver to control
the movement

4. When the robotic vehicle faces an obstacle then it
automatically stops moving in that direction with the help
of IR sensor.
Remote operation is achieved by any smart-phone/Tablet
etc., with Android OS, upon a GUI (Graphical User
Interface) based touch screen operation.
The android application device transmitter acts as a remote
control that has the advantage of adequate range

5. • Priority 1
Motor control using smartphone
• Priority 2
Obstacle detection using IR sensor
Priority 3
Autonomous drive of vehicle based on IR data

6. Priority 5
Priority 4
Integrating webcam for real time video display on
smartphone
Exploring the possibilities of developed model in various
applications

7. FR1 – Transmit all data between RC car and Android
Phone up to a range of 100m using Wi-Fi.
FR2 –. Use IR sensor to detect obstacles within 2 meters
to 5 meter distance from the RC car.
FR3 – Ability of webcam to display movement of RC car on
screen of Smartphone.

8. NFR1 – RC car can weight not more than 15lbs
NFR2 – The RC car shall run on servo motors
NFR3 – The user control system must use Android

9. sensorwebcam
WEBC
AM
Webcam
servos

11. we planned to design a mobile robot that would be rugged
enough for the outdoors, yet still have the capability to
maneuver in tight areas.
We concluded that the focus of the project was not to build the
platform, but to interface smartphone with the driverless car to
allow mediated control of the mobile platform . This conclusion
led to our decision to buy a remote control (RC) truck.

12. The truck must be able to withstand years of use in a
rugged environment as well as the ability to easily modify
components, add sensors , and mount IOIO board ,
webcam and so on.
The power source for the vehicle must be wireless allowing
through wi-fi from smartphone and the source must be
reusable to be cost effective.
The transmitter and receiver would preferably be able to
control additional components beyond the necessary drive .

14. The IOIO is a board that provides a host machine the
capability of interfacing with external hardware over a variety
of commonly used protocols.
The original IOIO board has been specifically designed to
work with Android devices.
The IOIO board can be connected to its host over USB or
Bluetooth, and provides a high-level Java API on the host side
for using its I/O functions as if they were an integral part of
the client.

15. In order to control a R/C vehicle from an Android phone, we
used the IOIO board to link the phone to the motor and
servo of the vehicle.
The IOIO can send PWM signals to the speed controller of
the vehicle in order to regulate its motors and servomotors.
The IOIO can also read values from digital and analog
sensors, such as infrared sensors (IR).
The IOIO provides connectivity to an Android device via a
Bluetooth or WI-FI connection and is fully controllable from
within an Android application using a simple Java API.

16. The newer IOIO-OTG can also be connected via USB as
a host or an accessory to an Android device or a
computer. When connected to an Android device, the
IOIO-OTG can act as a USB host and supply charging
current to the device. If connected to a computer, the
IOIO acts as a virtual serial port and can be powered by
the host

17. Compared to the other boards with similar functionality (e.g.,
Arduino ADK, Amarino, Microbridge, PropBridge), we chose
the IOIO because it provides a high-level Java API for
controlling the board’s functions without having to write
embedded-C code for the board.
It supports all Android OS versions, whereas other boards
only support the most recent Android OS. The IOIO is
inexpensive ($30) with a small footprint (~ 8cm by 3cm), is
fully open-source, and has great technical support.

18. The main function of the IOIO is to interact with peripheral
devices.
It can do so with 48 I/O pins, and digital inputs/outputs, PWM,
analog inputs, I2C, SPI, TWI, and UART interfaces.
The IOIO board contains a single MCU that acts as a USB host
and interprets commands from an Android app. The IOIO
supports 3.3V and 5V inputs and outputs.

19. It has two on-board voltage regulators. It contains a
switching regulator that can take 5V-15V input and output
up to 3A of stable 5V, and a linear regulator that feeds off
the 5V line and outputs up to 500mA of stable 3.3V.

20. In short, IOIO is like an extended I/O pins for your Android
phone and you are not required to do any sort of embedded
programming.
Honestly, this board is very advantage for those who have
knowledge in Java + Eclipse + Android. But , this tutorial will
guide us to setup the software and only go over writing a
simple Java app using the IOIO library.

21. There are two major types of Sharp's infrared
(IR) sensors based on their output: analog
rangers and digital detectors.
Analog ranges provide information about the
distance to an object in the ranger's view.
Digital detectors provide a digital (high or low)
indication of an object at or closer than a
predefined distance

23. These rangers all use triangulation and a small linear CCD
array to compute the distance and/or presence of objects in
the field of view.
In order to triangulare, a pulse of IR light is emitted by the
emitter. The light travels out into the field of view and either
hits an object or just keeps on going.
In the case of no object, the light is never reflected, and the
reading shows no object.
If the light reflects off an object, it returns to the detector
and creates a triangle between the point of reflection, the
emitter and the detector.

24. Servos are commonly electrical or partially electronic in
nature, using an electric motor as the primary means of
creating mechanical force.
A common type of servo provides position control

25. A servomotor is a specific type of motor and rotary
encoder combination that forms a
servomechanism. This assembly may in turn form
part of another servomechanism. The encoder
provides position and usually speed feedback,
which by the use of a PID controller allow more
precise control of position and thus faster
achievement of a stable position (for a given motor
power).

26. • Samsung Galaxy Player
• 5" screen
• 1 GHz Hummingbird
Processor
• Android 2.3
• Wi-Fi 802.11 n
• Multi-touch
• $210

27. Android is an open-source operating system which
means that any manufacturer can use it in their phones
free of charge.
It was built to be truly open. For example, an
application can call upon any of the phone’s core
functionality such as making calls, sending text
messages, or using the camera.

28. Android is built on the open Linux Kernel. Furthermore,
it utilizes a custom virtual machine that was designed to
optimize memory and hardware resources in a mobile
environment.

29. The Android platform includes support for the WI-FI
network stack, which allows a device to wirelessly
exchange data with other Bluetooth devices. Such as
IOIO.
The application framework provides access to the WI-
FI functionality through the Android PHONE.

30. A high-level Java API is provided with the IOIO that provides simple
functions to connect to the IOIO from an Android application.
The application can read values from digital or analog inputs, and
write values to the IOIO outputs.
Currently, analog input pins of the IOIO are sampled at 1KHz. Since
the IOIO software is fully open source, a developer can perform low
level embedded programming in order to modify the firmware
for example- Communication between the phone and the IOIO can
be made over WI-FI.

32. Speed of vehicle
start stop
up
down
left
right
IR Sensor

33. To start the RC car we use start & stop button as a input.
IOIO board is used to interface smartphone with RC car
The connectivity between the smartphone & IOIO board
is estabished by using Wi-Fi having range (100m)
In order to cotrol RC vehicle from an android phone , we
used IOIO board to link the phone to the servos which
are loaded on vehicle.

34. IOIO can send PWM signal to start & control the servomotor.
Ones the servomotor start, we control the car by using the four
buttons i.e right ,left , forward & backward.
The RC car has 4 IR sensor for right , left ,forward , backward
detection of obstacle.
The range of IR sensor to detect the obstacle is from 1m to 5m.
A pulse of IR light is emmited by the emitter ,the light travel out
into the field of view & either hits on object or just keeps on
going.

35. In case of no object , the light is never reflect back.
If the light reflects on the object & it return to the detector ,
then o/p send to the IOIO.
IOIO read values from that sensor & send signal back to
Smartphone through Wi-Fi.
If suppose obstacle detect in right then the first button
glow red light indicating that obstacle is found in right &
at this condition if we want to move RC car in right
direction , it cannot move.

36. In exception case we also use a encoder in IOIO to
indicate the speed of vehicle in our smartphone.
The movement or video of car is display on smartphone by
using webcam which is connected in RC car.
That’s the aim of this project to detect the obstacle by
wireless connectivity to avoid many accidents.

37. Obstacle can be detected having any shape or size
Accident will be avoided as obstacle is previously detected
by car
It reduces human afforts
As we use webcam in this project we are able know weather
object is moving or static

38. As it avoid accident it can be used by human being….
It can be used in education and research….

39. The single system also be implemented to detect
detches ,pedistrian ,length detection along with
obstacle by using more no. of sensors and algorithm/
programming

40. In conclusion the obstacle are detected using IR sensors
The navigation control is done through the Smartphone via
wi-fi
The cammand given to the car for avoidance of the
accidents and the death caused by those accidents can
be reduced.

41. “IOIO Board”, website-www.sparkfun.com/tutorial/280
“IOIOBoard”, website-www.github.com/ytai / ioio /wiki
“sensor”, website-www.mdpi.com/journal/sensor
“android”,Developer.android.com/about index.html

42. THANK YOU