Obstacle avoiding Robot
- 2. GROUP MEMBERS Rasheed Khan 14-ME-146 Shahzaib Tahir 14-ME-154 Shehzad Iqbal 14-ME-157 Sumair Ansar 14-ME-159
- 3. What is Obstacle Avoidance ??
- 4. Our Robot The obstacle detection is primary requirement of this autonomous robot In this project our robot senses any obstacle in its path, avoids it and resume its running Involves the pre-computation of an obstacle-free path which a controller guides the robot
- 7. Hardware UNO Arduino U.R Sensor DC motor Driver Connecting wires USB programmer
- 8. 1- UNO Arduino: Arduino is a software company, project, and user community that designs and manufactures computer open-source hardware, open-source software, and microcontroller-based kits for building digital devices and interactive objects that can sense and control physical devices.
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- 10. Sensors Some sensing devices used for obstacle detection like bump sensor, infrared sensor, ultrasonic sensor etc. Ultrasonic sensor is most suitable for obstacle detection because of LOW COST HIGH RANGING CAPABILITY
- 11. 2- Ultrasonic Sensor Emit a sound pulse that reflects off of objects entering the wave field The reflected sound, or “echo” is then received by the sensor Detection of the sound generates an output signal for use by an actuator, controller, or computer The output signal can be analog or digital. The time for an ultrasonic sensor’s beam to strike the target and return is directly proportional to the distance to the object
- 14. 3- DC Motor Driver (L298N) L298N is a typical Motor driver or Motor Driver IC which allows DC motor to drive on either direction. L298N is a 16-pin IC which can control a set of two DC motors simultaneously in any direction. It means that you can control two DC motor with a single L298N IC.
- 16. Specifications: Double H bridge Drive Chip: L298N Logical voltage: 5V Drive voltage: 5V-35V Logical current: 0-36mA Drive current: 2A (MAX single bridge) Max power: 25W Dimensions: 43 x 43 x 26mm Weight: 26g
- 17. 4- Connecting wires : We are using these wires for making the connections. 5- USB Programmer: USB Programmer is basically use for uploading the code from computer to Arduino.
- 18. Block Diagram
- 21. Programe Coding #define trigPin #define echoPin #define MotorA_IN1 #define MotorA_IN2 #define MotorB_IN3 #define MotorB_IN4 #define MotorA_PWM #define MotorB_PWM
- 22. void setup() { pinMode(MotorA_IN1, OUTPUT); pinMode(MotorA_IN2, OUTPUT); pinMode(MotorB_IN3, OUTPUT); pinMode(MotorB_IN4, OUTPUT); pinMode(MotorA_PWM, OUTPUT); pinMode(MotorB_PWM, OUTPUT); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); }
- 23. float search(void) { float duration = 0.00; float CM = 0.00; digitalWrite(trigPin, LOW); delayMicroseconds(2); //Send 10us High Pulse to Ultra-Sonic Sonar Sensor "trigPin" digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); duration = pulseIn(echoPin, HIGH); CM = (duration / 58.82); return CM; }
- 24. void RobotForward() { digitalWrite(MotorA_IN1, HIGH); digitalWrite(MotorA_IN2, LOW); digitalWrite(MotorB_IN3, HIGH); digitalWrite(MotorB_IN4, LOW); } void RobotBackward() { digitalWrite(MotorA_IN1, LOW); digitalWrite(MotorA_IN2, HIGH); digitalWrite(MotorB_IN3, LOW); digitalWrite(MotorB_IN4, HIGH); }
- 25. void RobotLeft() { digitalWrite(MotorA_IN1, LOW); digitalWrite(MotorA_IN2, HIGH); digitalWrite(MotorB_IN3, HIGH); digitalWrite(MotorB_IN4, LOW); } void RobotRight() { digitalWrite(MotorA_IN1, HIGH); digitalWrite(MotorA_IN2, LOW); digitalWrite(MotorB_IN3, LOW); digitalWrite(MotorB_IN4, HIGH); }
- 26. void RobotStop() { digitalWrite(MotorA_IN1, LOW); digitalWrite(MotorA_IN2, LOW); digitalWrite(MotorB_IN3, LOW); digitalWrite(MotorB_IN4, LOW); } void loop() { float distance = 0.00; float RobotSpeed = 0.00; float RightDistance = 0.00; float LeftDistance = 0.00 distance = search();
- 27. if((distance <= 40)) . { RobotSpeed = 50; analogWrite(MotorA_PWM, RobotSpeed); analogWrite(MotorB_PWM, RobotSpeed); RobotStop(); delay(10); RobotBackward(); delay(400); RobotStop(); delay(10); RobotRight(); delay(500); RightDistance = search(); delay(10); RobotLeft(); delay(900);
- 28. LeftDistance = search(); delay(10); if(LeftDistance >= RightDistance) { RobotForward(); } else { RobotRight(); delay(800); RobotStop(); delay(10); RobotForward(); } }
- 29. else if((distance > 40) && (distance <= 75)) { RobotSpeed = 150; analogWrite(MotorA_PWM, RobotSpeed); analogWrite(MotorB_PWM, RobotSpeed); RobotForward(); } else { RobotSpeed = 200; analogWrite(MotorA_PWM, RobotSpeed); analogWrite(MotorB_PWM, RobotSpeed); RobotForward();
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- 31. Video