Project Report

TITLE: SOIL EROSION SYSTEM.

INTERNAL INVENTOR(S)/ STUDENT(S):

S.NO Reg No NAME Roll No

1. 12400879 19
2. 12400637 Nishanth MuthamShetty 20
3. 12402579 Yandloori Vasanth Singh 21
4. 12407623 Methre Sai Nath 73

Introduction

Project Background

• In recent years, robotics has become an integral part of various industries, significantly
enhancing efficiency and safety. Among the numerous types of robots developed, obstacle
avoiding robots have garnered attention due to their practical applications in autonomous
navigation. This project focuses on designing and implementing an Obstacle Avoiding Robot that
can autonomously detect and avoid obstacles in its path, ensuring smooth and uninterrupted
movement.
• The primary objective of this project is to create a low-cost, reliable, and efficient robot using
readily available components. By leveraging an Arduino microcontroller and various sensors, the
robot will be capable of real-time decision-making to avoid collisions with obstacles. This
capability is crucial for applications such as autonomous vehicles, robotic vacuum cleaners, and
industrial automation, where avoiding obstacles is essential for safe and efficient operation.
• The project encompasses several key stages, including system design, hardware and software
integration, and thorough testing. Through this project, we aim to demonstrate the feasibility of
developing an obstacle avoiding robot that can navigate dynamically changing environments
with minimal human intervention.
• Importance of the project and related applications: Obstacle avoiding robots are crucial in
various applications such as autonomous vehicles, robotic vacuum cleaners, and industrial
automation. They enhance efficiency and safety by preventing collisions and navigating through
dynamic environments.
 Problem Statement

• Specific problem the project aims to address: The project aims to develop a low-cost, reliable
obstacle-avoiding robot using readily available components that can autonomously navigate and
avoid obstacles in its path.
• Description: Accurately detecting obstacles in real-time is critical for the robot's ability to
navigate safely and effectively. The robot must be able to identify various types of obstacles
(small, large, stationary, moving) and make quick decisions to avoid them.

Objectives

• Key objectives and goals:

o Design and implement an obstacle avoiding robot.
o Utilize sensors to detect and avoid obstacles. o Develop an efficient
algorithm for real-time decision making.

Scope of the Project

• Boundaries and limitations:

o Limited to indoor environments with flat surfaces. o Designed for
obstacle avoidance, not complex navigation or mapping.

Literature Review

Overview of Similar Projects

• Analysis of previous similar projects: Previous projects have utilized various sensors and
microcontrollers like ultrasonic sensors and Arduino. They have shown effective obstacle
avoidance but often lack scalability and robustness for different environments.

Research Gaps

• Identification of limitations in existing solutions: Many existing solutions are not cost-effective
for widespread use. They also lack adaptability to different obstacle sizes and environments.

Project Design and Methodology

 System Overview

• Block diagram or flowchart of the system:

• Hardware Components o Arduino Uno

o Jumper Wires
o Ultra-Sonic Sensor

o Li-Batteries

o Batteries Holder
o IR-Sensors

o Servo Motors

o L298n-Motor Driver
 o Gear Motors

• Arduino Microcontroller The brain of the robot,

handling sensor data and controlling actuators.
• Sensors and Actuators o Ultrasonic sensors for
obstacle detection.
o Motors for movement.
• Power Supply and Other Modules o Battery
pack for power supply. o Motor drivers.

Flow Chart:
 Software Design

• Code Architecture Modular code design with separate functions for sensor reading, decision
making, and motor control.
• Libraries and Dependencies Utilization of Arduino libraries for sensor and motor control.
Circuit Design and Assembly

• Circuit diagrams and connections: (Insert circuit diagrams here)

Implementation

Hardware Setup

• Step-by-step guide on hardware setup and testing: o

Assemble the components based on the circuit diagram. o
Connect the sensors to the Arduino. o Install the motor
drivers and connect the motors.

Software Coding

#include <Servo.h> //add Servo Motor library servo.write(90);

Servo servo; delay(100);
Serial.print("Left:");
#define motora1 13 Serial.print(leftDistance);
#define motorb1 12 return leftDistance;
#define motora2 7 }
#define motorb2 6
#define enA 11 int lookRight() {
#define enB 5 //lock right
servo.write(36);
int max_speed = 140; delay(500);
rightDistance = getDistance();
delay(100); servo.write(90);
//ultrasonic sensor
delay(100);
#define TRIG A5 Serial.print(" ");
#define ECHO A4 Serial.print("Right:");
Serial.println(rightDistance);
int setDistance = 20 ; int return rightDistance;
duration = 0; unsigned
int distance = 0; unsigned }
int leftDistance;
unsigned int rightDistance;
void Stop()
{ digitalWrite(motora1, LOW);
void setup() digitalWrite(motorb1, LOW);
{ Serial.begin(9600); digitalWrite(motora2, LOW);
pinMode(motora1, OUTPUT); digitalWrite(motorb2, LOW);
pinMode(motorb1, OUTPUT); }
pinMode(motora2, OUTPUT);
void forward() {
pinMode(motorb2, OUTPUT);
 pinMode(enA, OUTPUT); digitalWrite(motora1, HIGH);
pinMode(enB, OUTPUT); digitalWrite(motorb1, LOW);
digitalWrite(motora2, HIGH);
servo.attach(2); digitalWrite(motorb2, LOW);
servo.write(90); delay(50);
} analogWrite(enA, max_speed);
analogWrite(enB, max_speed);
void loop() { distance = }
getDistance();
Serial.print("dist: "); void backward()
Serial.println(distance); { digitalWrite(motora1,
LOW); digitalWrite(motorb1,
//detect the object. HIGH); digitalWrite(motora2,
if (distance <= setDistance) { LOW);
Stop(); delay(200); digitalWrite(motorb2, HIGH);
backward(); delay(200);
Stop(); delay(200); analogWrite(enA, max_speed);
lookLeft(); lookRight(); analogWrite(enB, max_speed);
if (leftDistance > rightDistance) //if left is less }
obstructed void right() {
{ digitalWrite(motora1, LOW);
Serial.println(" left"); digitalWrite(motorb1, HIGH);
left(); digitalWrite(motora2, HIGH);
Stop(); digitalWrite(motorb2, LOW);
}
else if (rightDistance > leftDistance) //if right is analogWrite(enA, max_speed);
less obstructed analogWrite(enB, max_speed);
{ delay(500);
Serial.println(" Right"); }
right(); void left() {
Stop(); digitalWrite(motora1, HIGH);
} digitalWrite(motorb1, LOW);
else //if they are equally obstructed digitalWrite(motora2, LOW);
{ digitalWrite(motorb2, HIGH);
turnAround();
} analogWrite(enA, max_speed);
} analogWrite(enB, max_speed);
forward(); // move forward delay(500);
} }
void turnAround()
int getDistance() { digitalWrite(motora1,
{ digitalWrite(TRIG , LOW); LOW); digitalWrite(motorb1,
delayMicroseconds(2); HIGH); digitalWrite(motora2,
HIGH); digitalWrite(motorb2,
LOW);
 analogWrite(enA, max_speed);
analogWrite(enB, max_speed); delay(1000);
digitalWrite(TRIG , HIGH); }
delayMicroseconds(10);
digitalWrite(TRIG , LOW);

duration = pulseIn(ECHO , HIGH); distance

= (duration / 2) / 29.1 ; //29.1 is a speed of
sound. return distance;
}

int lookLeft () {
//lock left
servo.write(144);
delay(500);
leftDistance = getDistance();
delay(100);

• Explanation of key code functions:

o Code for reading sensor data. o Code for decision
making based on sensor input. o Code for motor
control to avoid obstacles.

Integration

• Combining hardware and software to form the complete system:

o Upload the code to the Arduino. o Test the integrated system to
ensure it avoids obstacles effectively.

Testing and Results

Testing Strategy

• Unit tests, integration tests, and overall system tests:

o Test individual components (sensors, motors). o Integrate and
test the complete system in various scenarios.

Results and Analysis

• Analysis of test data, performance metrics: Evaluate the robot's performance in obstacle
avoidance under different conditions.
 Troubleshooting and Optimization

• Common issues and solutions:

o Sensor calibration issues. o
Motor control problems.

Discussion

Observations

• Observations from results and testing: The robot successfully avoids obstacles in most scenarios
but may struggle with very small or very large obstacles.

Limitations

• Identified limitations of the current system:

o Limited to flat surfaces. o May not handle all
types of obstacles efficiently.

Future Enhancements

• Suggestions for improvements and future developments:

o Implementing advanced algorithms for better obstacle detection. o
Enhancing the robot to handle more complex environments.

Conclusion

• Summary of project achievements and findings: The project successfully developed an obstacle
avoiding robot that can navigate and avoid obstacles in its path, demonstrating the feasibility
and effectiveness of using low-cost components and simple algorithms.

References

• Citations of all referenced materials, following a standard citation style:

o Chat-Gpt o
Youtube o
Copilot