University Institute of Engineering

Department of Computer Science & Engineering

Experiment: 3.1

Student Name: Omika Gupta UID: 24BAI70535

Branch: Computer Science & Engineering Section/Group:406 A
Semester: 02
Subject Name: EMERGING & DISRUPTIVE TECHNOLOGIES WORKSHOP (IOT,
AR-VR, ROBOTICS)

Subject Code: CONT_24ECP-103

1. Aim of the practical:: Design a collision avoidance robot in multi obstacle-based environment

2. Tool Used: Coppeliasim.

3. Basic Concept/ Command Description:

· sim.getObjectHandle() – Retrieves handles for the robot, sensors, and motors.

· sim.readProximitySensor() – Reads distance data from sensors to detect obstacles.

· sim.setJointTargetVelocity() – Controls wheel speed for movement and turning.

· if condition – Checks sensor data to determine obstacle proximity.

· while loop – Continuously monitors sensor input to dynamically adjust navigation.

4. Code:
CODE FOR BUBBLE ROB:

function speedChange_callback(ui,id,newVal)

speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100
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end

function sysCall_init()

-- This is executed exactly once, the first time this script is executed

bubbleRobBase=sim.getObject('.') -- this is bubbleRob's handle

leftMotor=sim.getObject("./leftMotor") -- Handle of the left motor

rightMotor=sim.getObject("./rightMotor") -- Handle of the right motor

noseSensor=sim.getObject("./sensingNose") -- Handle of the proximity sensor

minMaxSpeed={50*math.pi/180,300*math.pi/180} -- Min and max speeds for each motor

backUntilTime=-1 -- Tells whether bubbleRob is in forward or backward mode

robotCollection=sim.createCollection(0)

sim.addItemToCollection(robotCollection,sim.handle_tree,bubbleRobBase,0)

distanceSegment=sim.addDrawingObject(sim.drawing_lines,4,0,-1,1,{0,1,0})

robotTrace=sim.addDrawingObject(sim.drawing_linestrip+sim.drawing_cyclic,2,0,-
1,200,{1,1,0},nil,nil,{1,1,0})

graph=sim.getObject('./graph')

distStream=sim.addGraphStream(graph,'bubbleRob clearance','m',0,{1,0,0})

-- Create the custom UI:

xml = '<ui title="'..sim.getObjectAlias(bubbleRobBase,1)..' speed" closeable="false"

resizeable="false" activate="false">'..[[

<hslider minimum="0" maximum="100" onchange="speedChange_callback" id="1"/>

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<label text="" style="* {margin-left: 300px;}"/>

</ui>

]]

ui=simUI.create(xml)

speed=(minMaxSpeed[1]+minMaxSpeed[2])*0.5

simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[2]-
minMaxSpeed[1]))

end

function sysCall_sensing()

local result,distData=sim.checkDistance(robotCollection,sim.handle_all)

if result>0 then

sim.addDrawingObjectItem(distanceSegment,nil)

sim.addDrawingObjectItem(distanceSegment,distData)

sim.setGraphStreamValue(graph,distStream,distData[7])

end

local p=sim.getObjectPosition(bubbleRobBase,-1)

sim.addDrawingObjectItem(robotTrace,p)

end

function sysCall_actuation()
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result=sim.readProximitySensor(noseSensor) -- Read the proximity sensor

-- If we detected something, we set the backward mode:

if (result>0) then backUntilTime=sim.getSimulationTime()+4 end

if (backUntilTime<sim.getSimulationTime()) then

-- When in forward mode, we simply move forward at the desired speed

sim.setJointTargetVelocity(leftMotor,speed)

sim.setJointTargetVelocity(rightMotor,speed)

else

-- When in backward mode, we simply backup in a curve at reduced speed

sim.setJointTargetVelocity(leftMotor,-speed/2)

sim.setJointTargetVelocity(rightMotor,-speed/8)

end

end

function sysCall_cleanup()

simUI.destroy(ui)

end

CODE FOR VISION SENSOR:

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function sysCall_vision(inData)

simVision.sensorImgToWorkImg(inData.handle) -- copy the vision sensor image to the work

image

simVision.edgeDetectionOnWorkImg(inData.handle,0.2) -- perform edge detection on the

work image

simVision.workImgToSensorImg(inData.handle) -- copy the work image to the vision

sensor image buffer

end

function sysCall_init()

end

5. Observations, Simulation Screen Shots and Discussions:

· Effective Obstacle Detection – The robot successfully detects obstacles using proximity
sensors and adjusts its path accordingly.

· Real-Time Response – Quick sensor readings enable the robot to react immediately, preventing
collisions.

· Path Optimization – The robot efficiently navigates around obstacles but may require fine-
tuning for smoother turns.

· Environmental Sensitivity – Sensor performance may be affected by surface material, object

reflectivity, or environmental lighting.

· Algorithm Efficiency – Implementing advanced techniques like PID control or A* path

planning can enhance movement accuracy and decision-making.
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6. Result and Summary:

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The collision avoidance robot successfully navigates a multi-obstacle environment using

proximity sensors and adaptive movement control. Real-time obstacle detection ensures smooth
and efficient path adjustments. Performance improves with optimized sensor placement and
control algorithms. Fine-tuning response logic enhances accuracy, making the robot reliable for
autonomous navigation tasks.

7. Additional Creative Inputs (If Any):

Learning outcomes (What I have learnt):

1. Sensor Utilization – Understanding how proximity sensors detect obstacles and influence
movement decisions.
2. Autonomous Navigation – Learning to program robots for real-time path adjustments in
dynamic environments.
3. Algorithm Development – Implementing logic-based obstacle avoidance strategies like
conditional checks and path planning.
4. Simulation Mastery – Gaining hands-on experience with CoppeliaSim commands for sensor
reading and motor control.
5. Optimization Techniques – Exploring advanced methods like PID control or machine
learning for improved obstacle avoidance.

Evaluation Grid:

Sr. No. Parameters Marks Obtained Maximum

Marks
1. Student Performance 12
(Conduct of experiment)
2. Viva Voce 10
3. Submission of Work Sheet 8
(Record)
Signature of Faculty (with Date): Total Marks 30
Obtained:
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Department of Computer Science & Engineering