Republic of the Philippines

Sorsogon State University

Engineering Architecture Department
Sorsogon City
A.Y. 2021-2022

Development of Obstacle
Avoiding Car using
Microcontroller

GROUP 1 & 2 BSME-4

Members:

 Agnote, Pamela May  Boral, Dan Mikhael A.

 Aguirre, Haji B.  Cubacub, Jhonwell D.
 Baniel, Jerexson L.  Dealca, John Dave M
 Bonos, Royen Paul  Defeo, Fatima D.
Alexandre G.

Engr. Marie Grace Rosales

Instructor
ABSTRACT

Obstacle avoidance is one of the most important aspects of mobile robotics. Without it,
robot movement would be very restrictive and fragile. This project proposes robotic vehicle that
has an intelligence built in it such that it directs itself whenever an obstacle comes in its path. So,
to protect the robot from physical damages. This can be design to build an obstacle avoiding robot
using ultrasonic sensors for its movement. A micro-controller is used to achieve the desired
operation. An ultrasonic is used to detect any obstacle that is connected to servo motor that rotates
it around the given area and sends a command to the micro controller. Depending on the input
signal received, the micro-controller redirects the robot to move in an alternate direction by
actuating the motors which are interfaced to it through a motor driver.

INTRODUCTION

All over the world, different phenomena were experienced and several innovations were
promoted to deliver preventive measures. The present system of education is facing challenges
amidst this pandemic that limits the face-to-face learnings of students especially in improving
skills that could be learned at school. This project aims to broaden the knowledge of the students
and improve their skills in innovation, especially in the subject of robotics.

The Obstacle Avoiding Robot in this project is an intelligent robot that can recognize and
take evasive action in its path by moving itself in a different direction. Using an ultrasonic sensor
that emits ultrasonic sound waves and interprets the reflected sound into an electrical signal, the
distance of a target ranges from 10 to 30 centimeters in length can be determined. Using a
microcontroller, which is a device that is incorporated into a system that manages a single function
by interpreting data from its I/O peripherals with the help of its central processor the
microcontroller can control the motor’s left, right, back, and front movement with the help of the
DC motor. DC motor, is an electric machine that transforms electrical energy to mechanical
energy. It transforms electricity into mechanical rotation by using direct current.

The primary aim of this project is to construct and develop an obstacle-avoiding robot in a
form of a car. This robot could be a step to fully understand by the student the future of robots like
the fully automated cars of tesla which are automatically driven by computers.

REVIEW OF RELATED LITERATURE

Singh, R and Bera, T. K., (2019), “Obstacle Avoidance Robot Applying Fuzzy Control
System”. In this project primarily addresses the design and implementation of fuzzy logic based
controller for obstacles avoidance robot. Some techniques, sensors and controller have been
applied to fulfill the requirements of the robot. The robot is able to interact with unknown
environment using a reactive strategy determined by the sensors information. The obstacle
avoidance controller is two inputs and two outputs system. The inputs are two proximity
measurement of the obstacles distance, and the outputs are the velocities of the two wheels. The
robot is driven by two independent DC motors. The ultrasonic sensors are mounted at left, front
and right side of the mobile robot. It can detect the obstacles within the range 3 cm to 300 cm. The
kinematic model was developed to control the movement of the robot’s wheels. The detection of
the obstacles by the sensors activates the controller which simply attempts to avoid the robot with
the obstacles. Once the robot avoids the obstacles, the robot will keep sense for the new
environment. Based on these signals, the controller control the velocity of left and right wheels
thus making the robot to move forward and turning at the same time, i.e., the robot avoid the
obstacle by turn left with left motor velocity is 6.57 cm/s, right motor velocity is 8.29 cm/s and
angular velocity is 0.066154 rad/s when the obstacle detected from left sensor is 100 cm, right
sensor is 100 cm and front sensor is 50 cm. Different obstacles distance orientation also been tested
and the robot response is working as expected.

Rajarajan, R., Abdul Rahuman, S., Harish Bharath, M.A., (2011), “A Design &
Implementation of Collision Avoidance System (CAS) for Automobiles using Embedded
System”. In this paper use advance ideas such as pre-crash sensing, ultrasonic sensor is used to
sense the object in front of Based on the signal received from the ultrasonic sensor the micro
controller unit sends a signal to the braking unit for applying the brake automatically. The sensors
in the car would be capable of detecting the poor conditions and would inform the driver on how
to drive in them. For example, because fog affects visibility, the sensors would recognize this and
alert the driver of any dangers that lie ahead, like a windy turn or another car, giving the driver
enough time to slow down, allowing him to escape from what could have been a bad accident.

Shoval, S., Borenstein, J., Koren, J., (2015), “Mobile Robot Obstacle Avoidance in a
Computerized Travel Aid for the Blind” .In this paper a mobile robot obstacle avoidance system
has been converted successfully to a navigation aid for the blind. Instead of transmitting electronic
signals to the robot motion controllers, the obstacle avoidance system relays information to the
user by transmitting stereophonic signals. These signals provide spatial information about the
location of objects in space, or guiding information for the recommended travel direction and
speed.

Tabassum, F., Lopa, S., Tarek, M., Ferdosi, B., (2017), “Obstacle Avoiding Robot”. 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.The work done in this project can act as a base for further
improvements to increase accuracy and adaptability of obstacle detection in diverse environments.
In future, the authors of this project intend to test the feasibility of integrating different types of
sensors to complement each other’s disadvantages. For instance, imaging sensor can be beneficial
when ultrasonic sensor may not correctly identify obstacles in environment subjected to ambient
noise and varying temperature or air pressure. The accuracy of determining the distance to the
obstacles can be increased by the inclusion of an electronic barometer for automatic adjustment of
the speed of sound in air. Also the addition of a Bluetooth device can offer the flexibility of
remotely changing control parameters in the code.

OBJECTIVES

The primary objective of the study is to construct and develop an obstacle avoiding car using
Arduino which can automatically sense the obstacle in its way and avoid it by changing the
direction. The design allows the robot to navigate in unknown environment by avoiding collisions
which is primary requirement for autonomous mobile vehicles.

Specifically, the project aims to accomplish the following objectives:

 To design and develop obstacle avoiding robot using microcontroller

 To identify the development stages of the proposed project
 To identify and define components needed for the project
 To identify the ways to maintain the functionality of the project
METHODOLOGY

The methodology that were used in this project is mainly focus on the actual trial testing of the
obstacle avoiding car to successfully function and operates. The other methods are as follows:

 Requirement Breakdown:
o Planning
o Research
 System Blueprint
o Prototype Architecture
o System Design
o Input to output Guide
 Development
o Components construction
o Software Development
 Testing
o Trial and Dry Run
 Maintenance
o Optimize Capabilities
o Diagnose Errors

RESULTS

The proponents conducted a total of three (3) trials to see the development of the obstacle
avoiding robot after it has been constructed and programmed.

Trials Results Discussion Documentation

1st trial Based from the 1st trial that was conducted by the
proponents the obstacle avoiding robot is working
and moving but the ultrasonic sensor of obstacle is
not functioning. Therefore another programming
were conducted.
2nd trial Based from the 2nd trial that was conducted by the
proponents, after programming the robot it shows
that the ultrasonic sensor were already functional
but delay in detecting the obstacle. Another
problem on the project in the 2nd trial is that the
back left wheel of the robot were disconnect.
Therefore, another programming and construction
of the robot to be fully fix were conducted.
 3rd trial After the fixing the parts of the robot and
reprogramming, 3rd trial shows that the robot is
fully functional. The robot and move and detect
objects from different sides on its path.

The overall results of the obstacle avoiding robot that were develop by the proponents is
functional but there is only problem in this project. Due to lock of budget by the proponents the
robot can move and detect obstacles but cannot rotate direction, because the two back wheels are
the only motorized. The robot can only rotate and change its direction if all the four (4) wheels are
motorized. Therefore, the obstacle avoiding robot by the proponents could only move in forward
and backward directions.

DISCUSSION

The present system of education is facing challenges amidst this pandemic that limits the
face-to-face learnings of students especially in improving skills that could be learned at school.
This project aims to broaden the knowledge of the students and improve their skills in innovation,
especially in the subject of robotics. Therefore the proponents developed an obstacle avoiding
robot.

The proponents developed a car robot that avoids obstacles in its path using an ultrasonic
sensor that emits ultrasonic sound waves and interprets the reflected sound into an electrical signal,
the distance of a target ranges from 10 to 30 centimeters in length can be determined. Due to lock
of budget, the proponents only afford to used two (2) motors for its wheels, which the required
motors in this project for the wheels is four motors. Therefore, based from the three (3) trials that
were conducted by the proponents, the obstacle avoiding car is functional but cannot rotate and
change its direction. The only movements that was available in this robot are forward and
backward movements.

Therefore, the proponents concludes that this development of obstacle avoiding car using
microcontroller project is successful but didn’t reach its expected outcome.

SUMMARY

An obstacle avoiding robot using ultrasonic sensors for its movement. An ultrasonic is used
to detect any obstacle that is connected to servo motor that rotates it around the given area. A
micro-controller redirects the robot to move in an altern7ate direction by actuating the motors.
 The project aims to design and develop an obstacle avoiding car using Arduino which can
automatically sense the obstacle in its way and avoid it by changing the direction. The design
allows the robot to navigate in unknown environment by avoiding collisions which is primary
requirement for autonomous mobile vehicles.

Based from the data gathered and the number of trials, the proponents have recognized that
there can be errors to be encountered during the coding period. Hence the problems encountered
it is important to look forward to what obstacle avoiding robot can do. Obstacle avoiding robots
can be used in almost all mobile robot navigation systems. They can be used for household work
like automatic vacuum cleaning.
REFERRENCES

https://www.britannica.com/technology/robotics

https://iopscience.iop.org/article/10.1088/1757-899X/517/1/012009/pdf

https://ieeexplore.ieee.org/document/351166

https://create.arduino.cc/projecthub/diyprojectslab/obstacle-avoiding-robot-
2a69d5?ref=part&ref_id=8233&offset=35

https://create.arduino.cc/projecthub/electronicprojects/obstacle-avoiding-robot-using-arduino-
873332?ref=part&ref_id=8233&offset=95

https://www.instructables.com/Obstacle-Avoiding-Robot-Arduino-1/
DOCUMENTATION

Preparation of all the

needed tools and parts
that is needed to
developed an obstacle
avoiding car.

Construction of the obstacle avoiding car.

Coding and installation of programs to the obstacle

avoiding car
All Random Documentations