बिबिन बििाठी कु माऊं

प्रौद्योबिकी संस्थान
Bipin Tripathi Kumaon Institute of Technology
द्वाराहाट- 263653, जनिद- अल्मोड़ा (उत्तराखण्ड)
Dwarahat- 263653, Dist.- Almora (Uttarakhand)

SYNOPSYS ON MAJOR PROJECT

ON TITLE

“INTELLIGENT BRAKING & POTHOLE DETECTION”

SUBMITTED BY

HARSHIT RANA
(200180105007)
ELTN2308MAYANK
VERMA
(6210180105009)
MOHAMMAD.
ZAID
(6210180105010)
SUDHANSHU JOSHI
(6210180105019)

B.Tech in Electrical Engineering, 4TH Yr.

BIPIN TRIPATHI KUMAON INSTITUTE OF

TECHNOLOGY DWARAHAT (263653), DIST.- ALMORA

UNDER THE SUPERVISION OF

Dr. KANCHAN MATIYALI

ASSISTANT PROFESSOR

ELECTRICAL ENGINEERING

INFULLFILLMENT OF REPORT
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8th SEMESTER [2023-2024]

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 INTRODUCTION

In an era characterized by rapid advancements in autonomous systems, the development of robots capable of
navigating challenging environments autonomously has garnered significant interest. Autonomous robots that
can intelligently detect and respond to obstacles and uneven surfaces, such as potholes, hold immense potential
for applications in diverse fields, ranging from transportation to exploration and beyond.

This project aims to design and implement an integrated system that enables a robotic platform to autonomously
navigate through complex terrains by incorporating both obstacle avoidance and pothole detection mechanisms.
The system's primary goal is to equip the robot with the capability to detect obstacles in its path and identify
potential hazards, such as potholes, adapting its movement to ensure safe traversal through dynamic
environments.

The integration of sensors, motor drives, and sophisticated control algorithms forms the backbone of this
system, allowing the robot to make informed decisions in real-time, adjusting its trajectory and speed to avoid
collisions with obstacles and minimize the impact of potholes encountered along its path.

By combining ultrasonic sensors for obstacle detection and infrared sensors for pothole detection, along with
robust motor drives and intelligent control algorithms, this project aspires to create a cohesive and responsive
system that enhances the robot's ability to navigate safely and efficiently through diverse and challenging
terrains.

The successful development and implementation of this integrated system not only contribute to advancements
in robotics but also hold promise for practical applications in autonomous vehicles, robotic exploration, and
unmanned ground vehicles across various industries. Ultimately, this project aims to pave the way for
intelligent robotic systems capable of handling real-world obstacles and uneven surfaces, facilitating safer and
more reliable autonomous navigation in dynamic environments.

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 ABSTRACT

This paper presents an integrated system for a robotic platform capable of autonomously navigating through
complex terrains by incorporating obstacle avoidance and pothole detection mechanisms. The system employs a
suite of sensors, motor drives, and control algorithms to ensure the robot's safe traversal in challenging
environments.

The obstacle avoidance component utilizes ultrasonic sensors and a robust motor drive system to enable the
robot to detect and circumvent obstacles in its path. Upon detecting obstacles, the system employs real-time
sensor data to dynamically adjust the robot's movement, allowing it to maneuver around detected obstacles by
altering motor speeds and direction.

In parallel, the pothole detection system integrates infrared (IR) sensors and motor drives to identify and
respond to potholes on the robot's path. The IR sensors detect deviations or disruptions in surface levels
indicative of potholes, triggering the robot's control system to modify its trajectory or speed, mitigating the
potential impact of the potholes.

A central control unit orchestrates sensor data fusion, analyzing inputs from the obstacle avoidance and pothole
detection systems. It executes decision-making algorithms, commanding the motor drives to adjust the robot's
movement to navigate safely through environments characterized by obstacles and uneven surfaces.

Experimental results demonstrate the effectiveness of the integrated system in autonomously guiding the robot,
avoiding obstacles, and minimizing the impact of potholes. The combination of sensor fusion, motor control
strategies, and adaptive navigation algorithms equips the robot with the capability to negotiate diverse terrains
while ensuring safe and efficient locomotion.

This integrated approach to obstacle avoidance and pothole detection in robotics contributes to the development
of autonomous systems capable of handling real-world challenges in dynamic environments, with potential
applications in autonomous vehicles, exploration robotics, and unmanned ground vehicles for various

industries.

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 PARTS AND EQUIPMENTS
The various parts for enhancement of an electric vehicle are as follows:

Arduino uno (R3):

Along with ATmega328P MCU IC, it consists other components such as crystal oscillator, serial
communication Arduino Uno is a popular microcontroller development board based on 8-bit ATmega328P
microcontroller., voltage regulator, etc. to support the
microcontroller.
Arduino Uno has 14 digital input/output pins (out of which 6
can be used as PWM outputs), 6 Analog input pins, a USB
connection, A Power barrel jack, an ICSP header and a reset
button.
It is available in DIP (dual-inline-package), detachable and
ATmega328 microcontroller. The programming of this board
can easily be loaded by using an Arduino computer program.
This board has huge support from the Arduino community,
which will make a very simple way to start working in embedded
electronics, and many more applications.
Arduino Uno R3 is one kind of ATmega328P based microcontroller board. It includes the whole thing
required to hold up the microcontroller; just attach it to a PC with the help of a USB cable, and give the supply
using AC-DC adapter or a battery to get started. The term Uno means “one” in the language of “Italian” and
was
selected for marking the release of Arduino’s IDE 1.0 software. The R3 Arduino Uno is the 3rd as well as most
recent modification of the Arduino Uno. Arduino board and IDE software are the reference versions of
Arduino and currently progressed to new releases.

IR Sensor:
The IR sensor has a 3-pin connector that
interfaces it to the outside world. The
connections are as follows:
VCC is the power supply pin for the IR sensor
which we connect to the 5V pin on the Arduino.
OUT pin is a 5V TTL logic output. LOW
indicates no motion is detected; HIGH means
motion is detected.
GND Should be connected to the ground of the
Arduino.

The sensor which simply measures IR radiation instead of emitting is called pir or passive infrared. Generally in
the IR spectrum, the radiation of all the targets radiation and some kind of thermal radiation are not visible to
the eyes but can be sensed through IR sensors.

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 L298N Motor Driver:
The L298N Motor Driver is a versatile controller chip with dual H-Bridge functionality, allowing you to control
the direction and speed of up to two DC motors simultaneously. Here are some key details about the L298N
Motor Driver:

Functionality:

 The L298N module can drive motors with voltages between 5V and 35V.
 It supports a maximum current of 2A, making it ideal for various DC motors.

Pinout and Features:

 IN1 & IN2: These pins control the spinning direction of Motor A.
 IN3 & IN4: These pins control the spinning direction of Motor B.
 ENA: Enables the PWM signal for Motor A.
 ENB: Enables the PWM signal for Motor B.
 OUT1 & OUT2: Output pins for Motor A.
 OUT3 & OUT4: Output pins for Motor B.
 12V: Input from the DC power source.
 5V: Supplies power for the switching logic circuitry inside the L298N IC.
 GND: Ground pin.

1. Specifications:

 Driver Model: L298N

 Driver Chip: Double H Bridge
 Motor Supply Voltage (Maximum): 46V
 Motor Supply Current (Maximum): 2A
 Logic Voltage: 5V
 Driver Voltage: 5-35V
 Driver Current: 2A
 Logical Current: 0-36mA
 Maximum Power (W): 25W
 Current Sense for each motor
 Heatsink for better performance
 Power-On LED indicator

2. Applications:

 Drive DC motors.
 Drive stepping motors.
 Useful in robotics projects.

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 ROBO Car Chassis:
The chassis, also known as the frame, serves as the fundamental structure
upon which the entire vehicle is built. It provides the essential support for
various components, and everything else—whether it’s the sleek body, the
engine, or the suspension—rides on this chassis. Here are some key points
about car chassis:

1. Types of Chassis:
o Unibody: Most modern vehicles, except for pickup trucks and
large SUVs, feature a unibody chassis. In this design, the body
and the chassis are integrated into a single assembly. Unibody
construction offers benefits such as weight savings, a smoother
ride, and improved crash safety. It also reduces production
costs when adapted for multiple vehicles within a
manufacturer’s lineup.
o Body-on-Frame: Trucks, SUVs, and off-road vehicles still
use body-on-frame construction. Here, the body is attached to
a separate frame. This setup allows for better flexibility,
increased ground clearance, and the ability to handle heavier
loads.

Servo Motor
A servo motor is a rotary actuator that converts an electrical signal into precise
mechanical motion. Unlike other types of motors that continuously rotate, a
servo motor is designed to move to a specific position and hold that position.
This capability makes servo motors particularly well-suited for applications
requiring accurate and controlled angular movements.

Key Components of a Servo Motor:

1. DC Motor: At the core of a servo motor is a DC motor, which generates the

rotational movement. The DC motor is typically a brushed or brushless motor, depending on the specific design
and application requirements.

2. Gear Train: Servo motors often incorporate a gear train to reduce the speed of the motor and increase the
torque output. The gear train also provides mechanical advantage, allowing the servo to exert greater force
while maintaining precision.

3. Control Circuit: A crucial element of the servo motor is its control circuit, which interprets the electrical
signals and determines the appropriate position for the motor shaft. This circuit compares the actual position
feedback with the desired position and adjusts the motor accordingly.

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4. Feedback Device (Potentiometer or Encoder): To achieve precise control and feedback, a servo motor
includes a feedback device. This is typically a potentiometer or an encoder that continuously monitors the
motor's position. The feedback signal is sent to the control circuit, allowing it to make real-time adjustments.

5. Position Control System: Servo motors employ a closed-loop control system. The control circuit compares
the actual position (feedback) with the desired position (input signal). If there is any deviation, the control
circuit adjusts the motor until the positions match, ensuring accurate positioning.

Ultrasonic Sensor
An ultrasonic sensor is a sophisticated electronic device designed to
perceive and measure distances or detect the presence of objects through
the use of ultrasonic waves. Ultrasonic waves, which are sound waves with
frequencies higher than the upper limit of human hearing, typically above
20,000 hertz, serve as the fundamental mechanism for these sensors. This
technology finds wide applications in various fields, including industrial
automation, robotics, automotive systems, medical devices, and more.

PRINCIPLE

The core principle behind ultrasonic sensors lies in the concept of echolocation, a phenomenon observed in
nature, particularly in bats and certain marine mammals. In these natural systems, animals emit sound waves
into their surroundings, and by analyzing the reflected waves, they can determine the location, distance, and
characteristics of objects in their vicinity. Inspired by this biological mechanism, ultrasonic sensors in
technological applications emit ultrasonic waves and interpret the returning signals to achieve similar objective

The primary components of an ultrasonic sensor include a transducer, a receiver, and a control circuit. The
transducer plays a pivotal role in converting electrical energy into ultrasonic waves, typically in the ultrasonic
frequency range. Once these waves are emitted, they propagate through the air until they encounter an object.
Upon hitting an object's surface, the ultrasonic waves reflect back toward the sensor.

The receiver component of the sensor is responsible for capturing the reflected ultrasonic waves and converting
them back into electrical signals. This return signal, often referred to as an echo, undergoes processing in the
control circuit. By measuring the time interval between the emission of the ultrasonic pulse and the reception of
its corresponding echo, the sensor can precisely calculate the distance between itself and the object. This
distance calculation is based on the speed of sound in the medium through which the waves travel, usually air.

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 CIRCUIT DIAGRAM
Components Needed:

1. Arduino Uno
2. L298N motor driver module
3. 2 IR sensor modules
4. TT gear motorsnu
5. Wooden or acrylic chassis (approximately 13cm x 10cm)

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 FUTURE SCOPE
Our project focusing on intelligent braking and pothole detection in electric vehicles using ultrasonic and IR
sensors has promising future scopes. Here are some potential avenues for further development and
enhancement: Enhanced Sensor Fusion: Integrate data from multiple sensors (including ultrasonic, IR, and
potentially others like cameras or LIDAR) to improve the accuracy and reliability of braking and pothole
detection. Sensor fusion techniques such as Kalman filtering, or Bayesian inference can be employed for robust
environmental perception. Machine Learning for Pattern Recognition: Implement machine learning
algorithms to analyse sensor data and identify patterns associated with potholes and braking events. Training a
model on a diverse dataset can improve the system's ability to detect and react to different road conditions
effectively.
Predictive Braking Algorithms: Develop predictive braking algorithms that anticipate the need for braking
based on the analysis of sensor data, vehicle dynamics, and road conditions. This proactive approach can
enhance safety and efficiency by reducing response times to potential hazards.
Adaptive Suspension Systems: Integrate the pothole detection system with adaptive suspension systems to
dynamically adjust the vehicle's suspension characteristics in real-time, providing a smoother ride and
minimizing damage from potholes.
Integration with Vehicle Control Systems: Integrate the intelligent braking and pothole detection system with
the vehicle's onboard control systems, such as ABS (Anti-lock Braking System) and ESC (Electronic Stability
Control), to enhance overall vehicle performance and safety.
Vehicle-to-Infrastructure Communication: Explore the integration of vehicle-to-infrastructure
communication technologies, such as V2X (Vehicle-to-Everything), to receive real-time updates about road
conditions, traffic, and infrastructure status. This can further improve the system's ability to anticipate hazards
and optimize braking strategies.
Energy Harvesting from Braking: Investigate the possibility of implementing regenerative braking systems to
capture and store energy during braking events, thus improving the overall energy efficiency of electric
vehicles. Data Logging and Analytics: Implement data logging capabilities to record sensor data during
operation, allowing for post-analysis and optimization of the system's performance. This data can also be used
for predictive maintenance and vehicle health monitoring.
Integration with Autonomous Driving Systems: Integrate the intelligent braking and pothole detection system
with autonomous driving systems to enhance the safety and reliability of autonomous vehicles operating in real-
world environments.
User Feedback and Interaction: Develop user interfaces and feedback mechanisms to provide drivers with
real- time information about detected potholes, braking events, and system status. This can improve driver
awareness and confidence in the system's capabilities.
By exploring these future scopes and enhancements, your project can contribute to improving the safety,
efficiency, and comfort of electric vehicles, making them more attractive and viable options for transportation
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in the future.

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 REFERENCE

 https://www.wikipedia.org/

 https://www.tinkercad.com/3d-design

 https://github.com/

 https://takeoffprojects.com

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