Develop Proj
Develop Proj
AVOIDANCE QUADCOPTER
PROJECT REPORT
BACHELOR OF TECHNOLOGY
Mechanical Engineering
SUBMITTED BY
May 2024
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Candidate's Declaration
We hereby certify that the work which is being presented in the project report entitled
“Development Of An Obstacle Avoidance Quadcopter” in partial fulfillment of requirements
for the award of degree of Bachelor of Technology in Mechanical Engineering at MOTILAL
NEHRU NATIONAL INSTITUTE OF TECHNOLOGY ALLAHABAD is an authentic record
of our work carried out during a period from August 2023 to May 2024 under the supervision of
Prof. Mukul Shukla. The matter embodied in the thesis has not been submitted to any other
University / Institute for the award of any degree.
This is to certify that the above statement made by the candidates is correct to the best of my
knowledge.
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Acknowledgments
We extend our sincere thanks to MNNIT Allahabad for the essential resources and support
provided for the successful execution of this study. The Mechanical Workshop at MNNIT
Allahabad deserves special recognition for offering the necessary manufacturing facilities,
forming the foundation for our analysis and modeling.
Our gratitude extends to Prof. Mukul Shukla, our mentor and guide, whose expertise and
insights played a pivotal role in shaping the direction of this study, ensuring its rigor and quality.
Throughout the research process, Dr. Shukla's constant support and encouragement served as a
motivating force.
Special appreciation is also reserved for Dr. J. C. Mohanta for his invaluable assistance in
providing access to the historical dataset of solar radiation readings at the MNNIT campus,
significantly enhancing the quality of our analysis.
Furthermore, we express our thanks to the members of our panel for their unwavering
perseverance, ongoing inspiration, and consistent oversight, all of which contributed to the
success of this work. Professor K. N. Pandey, Head of the Department, deserves
acknowledgement for facilitating the necessary facilities.
We would like to express our heartfelt gratitude to Robotics Club MNNIT and AeroClub
MNNIT for their wonderful support. AeroClub MNNIT provided the necessary components and
a conducive workspace, whereas Robotics Club MNNIT provided the necessary components and
a productive workspace. Their outstanding help was critical to the effective completion of our
project.
In our attempt to acknowledge all contributors to this research, we acknowledge that inadvertent
omissions may occur, and we apologize for any oversights. Our deep appreciation goes to
everyone involved in this study, as each has played a crucial role in its successful completion.
Aryaman Sharma – 20203034
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Abstract
The development of autonomous systems has had a significant influence on several sectors in recent
obstacle-avoidance drone systems. This abstract digs into the complex design and implementation of
a drone-based obstacle avoidance system, emphasizing its importance in enhancing mobility and
safety for people with physical limitations. The major goal of the obstacle avoidance drone project is
to enable accurate and dynamic movement while flying, ensuring the drone avoids objects as it
navigates through airspace. The obstacle avoidance algorithm is built on the integration of ultrasonic
sensors, which was inspired by improvements in mobile robot systems and autonomous quadcopters.
This research seeks to address not just technical issues related to drone navigation, but also to
contribute to the larger objective of improving the quality of life for people with physical limitations.
The idea is inspired by a variety of sources, including a mobile robot system meant to assist the
physically impaired and equipped with ultrasonic range finders for obstacle identification and
mapping. The topic includes a thorough examination of ultrasonic sensors, stressing their
performance and addressing any limits. Based on this, we offer a simple yet successful technique for
object recognition and collision avoidance in an autonomous flying quadcopter. The study, conducted
in a self-built quadcopter, proves the overall viability of the technique. The vehicle's movement is
directed by real-time data gathered from attached sensors, allowing the system to detect impediments
and determine collision-free courses independently. This abstract delves into the deep aspects of the
sensor-controller interface and its significance in controlling the movement of the robot. This
project's multidisciplinary character, combining robotics, sensor technology, and aircraft engineering,
places it at the forefront of technological innovation. The relevance of this discovery becomes clear
as the abstract closes, suggesting a future in which obstacle avoidance drones reinvent aerial
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Table of Contents
Candidate's Declaration 2
Acknowledgements 3
Abstract 5
List of Figures 7
Chapter 1 Introduction 8
1.1 Objective
1.2 Methodology
1.3 Motivation
References 51
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List of Figures
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Chapter 1
Introduction
1.1 Objective
The integration of unmanned aerial vehicles (UAVs) or drones has emerged as a pivotal frontier
in the rapidly evolving landscape of robotics and automation. Drones, also known as flying
robots, are capable of performing a wide range of tasks autonomously or via remote control,
systems, the implementation of obstacle avoidance mechanisms is a critical aspect that requires
attention. This project is motivated by the need to improve the safety and efficiency of drone
automation solution that incorporates ultrasonic sensors, based on previous work in the field.
The significance of drone automation lies in its ability to perform specific tasks without constant
impractical. Because the project focuses on the integration of ultrasonic sensors for obstacle
avoidance, it is consistent with the larger goal of developing intelligent and autonomous robotic
systems capable of navigating complex and dynamic environments. Based on this foundation,
our project aims to add to the existing body of knowledge by proposing an obstacle avoidance
system for drones that uses ultrasonic sensors. The emphasis is on local information processing
to improve real-time decision-making and reduce potential delays associated with round-trip
communication between the drone and a central server. The evaluation of sensor detection
performance is an important aspect of our work because it ensures the dependability and
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1.2 Methodology
Drone automation is the development and deployment of systems that enable unmanned aerial
vary based on the application and the complexity of the activities that the drone is intended to do.
We will examine drone automation approaches in this project, with an emphasis on quadcopters.
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In summary, drone automation approaches comprise sensors, guidance, and control systems,
protocols for communication, and complex algorithms. When these approaches are applied to
quadcopters, they offer accurate, autonomous flying with obstacle-avoiding capabilities, making
them adaptable instruments for a wide range of uses including aerial photography to search and
rescue operations.
1.3 Motivation
Our project is motivated by the need to improve the capabilities of UAVs, or unmanned aerial
vehicles, by developing a unique obstacle and collision avoidance system. Our proposed system
stands out as a cost-effective and efficient option by incorporating a variety of low-cost sensors,
including infrared and ultrasonic technology. In contrast to existing methodologies, our strategy
The desire to improve autonomous flight capabilities while assuring strong collision avoidance is
one of the key motives driving our study. Our method reduces collision risks by expertly
managing the drone's distance from nearby objects, particularly walls, and humans,
demonstrating its promise for real-world applications. The use of ultrasonic sensors is a
technological breakthrough, providing accurate distance measurements that allow the drone to
identify and maneuver around obstacles in its flight path. This not only improves the safety and
efficiency of UAV operations, but it also establishes our initiative as an important addition to the
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We understand the inherent benefits of ultrasonic sensors, such as their affordability and
lightweight design, but we also recognise their drawbacks, such as their limited range and
vulnerability to interference from outside sound sources. These difficulties highlight how
difficult it is to create drones that can avoid obstacles and collisions. But our project also acts as
a springboard, solving present issues and laying the groundwork for upcoming developments in
UAV technology. We see tremendous potential to further refine obstacle and collision avoidance
systems as technology advances, making UAVs more dependable and adaptable for a wide range
of applications.
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Chapter 2
Literature Review
Research on obstacle and collision avoidance for drones highlights a lively field of research
driven by the increasing frequency of drones and the need to improve their operating safety.
Diverse strategies have been investigated, demonstrating a variety of approaches to reducing
collision hazards during drone operations. Sensor-based and vision-based solutions emerge as
common threads, using devices such as infrared and ultrasonic sensors for real-time obstacle
identification. Furthermore, machine learning and map-based approaches offer intriguing
opportunities for future growth.
Arne Devos, Emad Ebeid, and Poramate Manoonpong presented a work that used simulation to
demonstrate the preliminary performance of an adaptable obstacle avoidance control system. The
study created a drone model and controller in C++ using a V-REP simulation environment,
establishing the framework for successful collision avoidance methods [1]. Jawad N. Yasin and
Sherif A. S. Mohamed did a thorough analysis of the literature on collision avoidance systems
and tactics used in unmanned vehicles [2]. Their paper provides an excellent overview of the
current state of collision prevention research.
Meng Guanglei and Pan Haibing suggested a method for auxiliary barrier aid that included
ultrasonic sensors. This novel method calculates distances amid a quad-rotor drone and obstacles
using acoustic reverberation time. Based on this information, the flight controller orchestrates
controlled, slow-motion maneuvers to avoid detected impediments [3]. A collision-free indoor
navigating algorithm for teleoperated multirotor Unmanned Aerial Vehicles (UAVs) was
contributed by Marcin Odelga, Paolo Stegagno, and Heinrich H. Bülthoff. The program actively
tracks and responds to barriers in the robot's immediate surroundings using an RGB-D camera
and a Bin-Occupancy filter.
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While this research demonstrates advancements in obstacle and collision avoidance, difficulties
remain. Accurate location tracking, sensor range restrictions, and a tendency to false positives
are all opportunities for development. The incorporation of ultrasonic sensors, as proven by
Meng Guanglei and Pan Haibing's work, shows potential for improved drone safety and
efficiency. Exploration of hybrid techniques and refining of sensor technologies are critical as the
field progresses for creating secure and dependable obstacle and collision prevention systems for
drones.
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Chapter 3
Our Work
3.1.1 UR sensor
Ultrasonic sensors, also known as UR sensors, play an important role in modern object detection
systems. These ultrasonic sensors, which operate on the principles of emitting and receiving
ultrasonic waves, are critical in scenarios requiring precise distance measurement and effective
obstacle avoidance.
UR sensors begin their operation by producing ultrasonic waves with frequencies ranging from
20 to 200 kHz. This frequency spectrum keeps the sound waves inaudible to the human ear. The
sensor's emitter component is in charge of producing these waves, which then propagate through
the surrounding medium, which is typically air. The frequency chosen must balance factors such
The Ultrasonic Sensor [HC-SR04], a popular model known for its dependability, plays an
Operational Characteristics:
The HC-SR04 emits high-frequency sound waves within a frequency range of 40Hz when
triggered by a pulse input from the ARM microcontroller. Its TTL operation ensures a seamless
interface with the microcontroller, making it an adaptable choice for a wide range of electronic
systems.
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The model has a ranging accuracy of up to 3mm, making it a dependable solution for object
The 5V supply, ground, trigger pulse input, and echo pulse output are all wired into the
HC-SR04. These connections facilitate integration into electronic systems by providing a simple
interface.
interpreting the echoes produced when these waves collide with obstacles.
In the case of ultrasonic sensors, the emitted sound waves travel through the surrounding
medium, which is typically air. Because the speed of sound in the medium is known, the sensor
can precisely calculate distances based on the time it takes for the waves to travel.If the emitted
sound waves collide with an object, the process is known as reflection. When the waves hit an
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Fig.3.1.1 (a) Echolocation and reflection
The ultrasonic sensor includes a receiver component that detects echoes or reflected waves. The
sensor is intended to measure the time it takes for the emitted waves to travel to and from the
object. The HC-SR04's Trig pin is set to high for at least 10 us. A sonic beam of 8 pulses at
40KHz is transmitted.
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The signal then hits the surface and returns to be captured by the HC-SR04's receiver Echo pin.
At the time of sending high, the Echo pin was already high.
The sensor can calculate the distance to the object by precisely measuring the time elapsed
between the emission of the sound wave and the reception of its echo. The following formula is
The distance data obtained from the time-of-flight measurement is interpreted by the sensor's
internal electronics.
Mission Planner is a ground control station software for planning, executing, and monitoring
quadcopter flight paths using ArduPilot firmware. It provides a graphical interface for users to
interact with their drones, rovers, boats, and other robotic platforms, enabling both beginners and
advanced users to manage their vehicles effectively.
Connect to your quadcopter via USB or telemetry (e.g., 915MHz radio), then perform sensor
calibration (accelerometer, compass) and configure flight modes and fail-safes. In the "Flight
Plan" tab, define waypoints and mission commands (e.g., takeoff, waypoint navigation, RTL),
then upload the mission to the flight controller. Arm the quadcopter, set the mode to "Auto" to
initiate the mission, and use real-time telemetry for monitoring parameters like GPS coordinates,
altitude, and battery status, allowing for in-flight adjustments. Mission Planner facilitates precise
and autonomous quadcopter missions.
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Fig 3.1.2 Mission Planner
MAVProxy is a command-line ground control station (GCS) software that communicates with
autonomous vehicles via the MAVLink protocol. It provides real-time telemetry, mission
planning, and vehicle control by routing MAVLink messages.
When used with Mission Planner, MAVProxy serves as an intermediary, forwarding MAVLink
telemetry data from the vehicle to Mission Planner. To use them together, connect to the vehicle
with MAVProxy and configure it to output telemetry data to Mission Planner . Mission Planner
can then be connected using the same UDP endpoint , allowing it to receive real-time data and
send commands for mission planning and vehicle control, utilizing MAVProxy's data routing
capabilities for comprehensive management.
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3.2 System Design
A high-level view of the quadcopter drone assembly reveals a basic power flow that starts with
the battery and proceeds through the voltage regulator to the Pixhawk flight controller and
The Pixhawk, Arduino, and UR sensors communicate constantly, coordinating the drone's flight
path based on real-time obstacle detection data. This collaborative interaction provides precise
Component Overview:
3.2.1 UR sensor
As previously stated, we are employing The Ultrasonic Sensor [HC-SR04], a widely used model
that is well-known for providing accurate measurements and readings and is widely available on
the market.
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3.2.2 Arduino uno
The Arduino Uno is a microcontroller board based on the ATmega328P. Six of the fourteen
digital input/output pins are set to PWM operation, and there are six analog inputs in total.
Among the key components are a reset button, a power jack, an ICSP header, a USB connector,
The Arduino Uno's central processor is the ATMEL ATmega328P, a member of the mega AVR
family. The Pixhawk flight control system will continue to communicate with the Arduino unit,
which will collect data from the UR sensors and send commands to them.
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Fig.3.2.2(b) Pin diagram of an ATMega328
Key Parameters:
● Microcontroller: ATmega328P
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3.2.3 Ardupilot Mega
ArduPilot Mega (APM) is an open-source autopilot system used for controlling a variety of
robotic vehicles, including drones, rovers, and boats. It offers autonomous navigation and vehicle
control capabilities through a combination of hardware and software components.
Key parameters :
● Microcontroller: ATmega2560
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● Sensors:
○ Accelerometer
○ Gyroscope
○ Magnetometer
○ Barometer
3.2.4 ESC
The Electronic Speed Controller, or ESC, is a critical component of drones that regulates the
speed of each motor. It analyzes flight controller data and adjusts motor speeds to control the
drone's movement. To power the motors, ESCs convert direct current (DC) power from the
battery to three-phase alternating current (AC), ensuring accurate and responsive control during
flying maneuvers. They play an important role in stabilizing the quadcopter and impacting its
overall performance, making them essential for a smooth and quick drone operation.
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3.2.5 BLDC Motor
BLDC (Brushless DC) motors provide high dependability and efficiency in quadcopters.
minimal maintenance, and an ideal power-to-weight ratio—all of which are critical for
responsive and nimble drone flight. The motor provides a maximum thrust of 840gm, with a
The circuit design incorporates two critical circuits: the Ultrasonic Sensor Array Circuit and the
Drone Maneuvering Circuit, both of which play critical roles in obstacle avoidance and precise
drone maneuvering. The seamless integration of these circuits serves as the quadcopter's
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3.3.1 Ultrasonic Sensor Array Circuit:
The Ultrasonic Sensor Array Circuit, which is designed to perceive the drone's surroundings, is
at the heart of obstacle avoidance. The Arduino Uno, a microcontroller that orchestrates data
from six ultrasonic sensors for strategic drone positioning, is at the heart of this circuit. The
ultrasonic sensors act as the quadcopter's eyes, continuously measuring distances from potential
obstacles.
When the Arduino Uno receives distance readings, it uses a sophisticated algorithm to determine
the proximity of obstacles. If insufficient distance is detected, the circuit activates a robust
response mechanism. This includes sounding an alarm, warning operators of potential hazards,
and lighting an LED bulb. This section of the circuit design enables real-time communication
and responsiveness, laying the groundwork for an efficient obstacle avoidance system.
The Drone Maneuvering Circuit, a complex network of components dedicated to controlling the
quadcopter's pitch, yaw, and roll, works in tandem with the obstacle avoidance system. The
Pixhawk flight controller, a high-performance autopilot system that governs the quadcopter's
The Pixhawk, which serves as the quadcopter's brain, receives sensor input and converts it into
commands for the Electronic Speed Controller (ESC). The ESC controls the current flow to each
motor, adjusting the speed of the four rotors located at the drone's four corners. Propellers
connected to these motors generate the lift required for aerial navigation. The interaction of the
Pixhawk, ESC, motors, and propellers creates a sophisticated control system that allows the
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quadcopter to maintain stability, execute smooth maneuvers, and respond quickly to external
factors.
Both circuits are integrated using meticulous planning and precise connectivity. With its
ultrasonic sensor array, the obstacle avoidance system integrates seamlessly with the drone
maneuvering circuit, resulting in a comprehensive system that prioritizes both safety and control.
The drone maneuvering circuit ensures that every movement is executed with finesse as the
ultrasonic sensors diligently navigate the drone through its surroundings, promising a flight
The current flow in the circuit is meticulously orchestrated to ensure optimal functionality. The
Pixhawk, which serves as the power source for the UR sensor array circuit, supplies energy to
the Arduino, allowing for more efficient power distribution. This power is then efficiently
circulated on the breadboard, serving as a convenient hub for simplified component connections.
The breadboard serves as a central node, allowing energy to be transferred seamlessly to various
circuit components. The power is then transferred to critical components such as ultrasonic
sensors, LED bulbs, and sound alarms, allowing them to operate precisely. This systematic
current flow not only improves the circuit's reliability but also ensures that each component
receives the power it requires for seamless integration and cooperative operation within the
quadcopter system.
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Fig. 3.4 Circuit diagram of the UR sensor array assembly
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a. UR sensor 1 trig pin to digital pin 13
b. UR sensor 1 echo pin to digital pin 12
c. UR sensor 2 trig pin to digital pin 11
d. UR sensor 2 echo pin to digital pin 10
e. UR sensor 3 trig pin to digital pin 9
f. UR sensor 3 echo pin to digital pin 8
g. UR sensor 4 trig pin to digital pin 7
h. UR sensor 4 echo pin to digital pin 6
i. UR sensor 5 trig pin to digital pin 5
j. UR sensor 5 echo pin to digital pin 4
k. UR sensor 6 trig pin to digital pin 3
l. UR sensor 6 echo pin to digital pin 2
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Because we will be operating at maximum and minimum capacity for all of the ultrasonic
sensors, we did not need to differentiate between PWM pins and normal digital pins over here.
Connecting to the analog pins would also cause a break in the connections for all of the
ultrasonic sensors, and there was no reason to run the sensors on analog input output, so all
connections are made on the digital pins. One connection is made for each ultrasonic sensor's
trigger pin and one for each echo pin. As a result, make arrangements for both sending and
receiving signals.
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The analog pins are connected to the LED and sound alarm pins, and we can even control the
intensity of their operation. We may be able to implement more precise alert systems here, such
as:
● Assume we add a blinking mechanism for the alert to the LED bulb. So, if the object is
not very close but is in the alert zone, we can keep its intensity at 100/255 and increase it
● We can change the frequency at which the alarm sounds based on the distance between
b. The 5V pin from the arduino to the breadboard positive shorted pins
c. The GND pin from arduino to the breadboard negative shorted pins
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The power is passed from the pixhawk to the arduino, which is then passed onto the breadboard's
positive shorted pins, giving us access to 60 positive connection pins. Similarly, the GND pin of
the Arduino is connected to the breadboard's negative shorted pins, giving access to 60 pins for
the ground terminal. The use of a breadboard simplifies the connections for all of the other
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3.5 UR Code overview
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3.5.1 The Flowchart
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3.5.2 The Algorithm
a. Initialization:
i. Define the trigger and echo pins for each ultrasonic sensor as constants (trigPin1
iii. Set up the Arduino pins for triggers and echoes using pinMode.
b. Main Setup:
ii. Set trigger pins as OUTPUT and echo pins as INPUT using pinMode.
ii. Call the sonarSensor() function with corresponding trigger and echo pins.
ii. If the distance measured by the sensor is less than 100 cm:
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iii. Activate an LED (connected to pin A3) using analogWrite to set brightness to
maximum (255).
iv. Activate another LED (connected to pin A4) in the same way.
e. SonarSensor() Function:
iii. Send a short pulse to the trigger pin to initiate ultrasonic signal transmission.
iv. Measure the duration it takes for the signal to bounce back using pulseIn on the
echo pin.
Note: Ensure the LEDs (A3 and A4) are connected to the appropriate pins on the Arduino board.
End Algorithm
This algorithm outlines the steps taken by the code to read distance values from six ultrasonic
sensors, display them on the Serial monitor, and activate LEDs based on obstacle proximity. The
sonarSensor() function encapsulates the logic for measuring distances, providing modularity to
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3.6 Integration of APM with Arduino (Drone Reaction)
Here we take the input provided from the sensors and maneuver the drone accordingly with the
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3.7 Path Planning using MAV proxy
Here we have used Mission planner to simulate our flight path, as defined by the python script
we loaded, with the help of MAVproxy. The flight path is of a simple square
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Chapter 4
The code was written entirely on the Arduino IDE. The main functions used in writing the code
were analog & digital write, pulsIn, pinMode, void setup, and void loop.
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The sonar sensor function was written inside the code to calculate the distances obtained
from the ultrasonic sensor.
Before uploading the code to the hardware, it was written and uploaded to Tinkercad
simulation software. This allowed us to ensure that all connections were safe and secure and
did not pose a danger to either the components or the environment. The simulation of the UR
sensor replicates a crucial situation in which the distance measurement falls below the 150
cm threshold, leading to the activation of an alarm.
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As the simulation ran, we observed that the LED bulb and alarm would sound when we
moved an object closer than 150 cm to any of the ultrasonic sensors. This indicates that we
can receive an immediate warning when the environment becomes hazardous for the drone.
Additionally, all of the components continued to operate efficiently and without any issues.
As a result, we can conclude that the simulation is running smoothly.
We successfully simulated a precise flight path for our drone using Mission Planner. By
programming the path with a Python script developed in PyCharm IDE, we utilized
MAVProxy to load and execute the script within Mission Planner. This integration enabled
the drone to accurately follow the designated trajectory. With this accomplishment, we are
now confident in our ability to define and implement complex path geometries for our drone,
ensuring precise and reliable autonomous navigation.
We replicated the entire tinkercad simulation by building the entire circuit in which we used the
arduino uno microcontroller to control the UR sensor array and its functioning, receiving the data
and interpretation based upon the arduino uno code. In the testing stage, we imitated the obstacle
that the drone may encounter, crosscheck the obstacle detection range in terms of distance and
coverage area.
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fig. 4.2.(a) Array Stand design in Solid Edge
The entire UR sensor array structure is supported by a custom build stand, designed on Solid
edge, and 3d printed using Ultimaker 2 +. The material used to print the stand is PLA PRO +,
2.85 mm filament, with a density of 1.22g/cm3. The strength of the stand is sufficient to support
0.5kg. The frame is made from Glass Fiber and Polyamide Nylon which makes it tough and
durable.
The UR array stand will be connected to the quadcopter frame at the hinges provided in the
As discussed above, the drone consists of the 2200 mah li-po battery with an output of 12 volts
connected to the pixhawk flight controller via a voltage stabilizer. The basic power flow has
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Upon successful hardware integration, our focus shifted to implementing the drone detection
system. The obstacle detection array effectively identifies obstacles within the specified
observation range. Utilizing data from the ultrasonic range (UR) sensors, this information is
transmitted to the ArduPilot flight controller for real-time adjustment of flight parameters.
Consequently, the drone's motor speeds adapt accordingly, enabling automated evasion and
avoidance of obstacles.
While detection accuracy remains suboptimal, ongoing modifications are aimed at enhancing this
aspect. Our subsequent endeavors will involve integrating path planning software directly with
the flight controller to facilitate controlled flight simulations with predefined trajectories.
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Chapter 5
5.1 Conclusion
The results of the tests confirm the system's operational competence, demonstrating its ability to
identify impediments within the specified range. This suggested system combines cost-effective
sensors from several technologies, such as infrared and ultrasonic, to provide a more efficient
the provided methodology stands out for its ease of application, decreased mathematical
complexities, reduced computing burden, and cheaper development and maintenance expenses.
The use of ultrasonic sensors into UAVs has the potential to transform safety and efficiency in a
variety of applications. These sensors, known for their accuracy in measuring distances, improve
obstacle identification and avoidance during drone navigation. Despite their small weight and
low cost, ultrasonic sensors have drawbacks, most notably their limited range and sensitivity to
With the hardware components and their implementation successfully evaluated, attention now
shifts to integrating path planning with the obstacle detection array. While the current array
design, though not perfect, exhibits adequate detection capabilities, future studies will explore
design features for potential improvements. Simulations conducted on Mission Planner provide a
foundation for conducting complex path planning simulations. The successful integration of
these two components will result in a fully automated flight path planning system for the drone,
including obstacle avoidance. Our primary focus will be on increasing detection accuracy and
refining flight parameters, marking a significant step towards enhanced autonomous drone
operation.
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References:
[1] Rahman, M. F., Wisnu, Sasongko, R.A. Obstacle’s Contour Detection using Ultrasonic
[2] Borenstein, J. and Koren, Y. Obstacle Avoidance with Ultrasonic Sensors, IEEE J., 1998,
pp.213-218
[3] Rawikara, S. S. Desain dan Simulasi Sistem Obstacle Avoidance untuk Misi Waypoint
Following pada Pesawat Udara Nirawak, Tugas Akhir Program Studi Aeronautika dan
[4] Sasongko, R. A., Sembiring, J. Muhammad, H. Design of Obstacle Avoidance Algorithm for
[5] Sasongko, R. A., Rawikara, S. S., Tampubolon, H. J., UAV Obstacle Avoidance Algorithm
[8] Quadrotor Using Minimal Sensing For Autonomous Indoor Flight, 2007, Roberts ,
EMAV2007
[9] An Improved Artificial Potential Field Approach to Real-Time Mobile Robot Path Planning
[10] Khatib, O. 1986. « Real-time obstacle avoidance for manipulators and mobile robots »
[11] Khosla, P., Volpe, R. 1998. « Superquadric artificial potentials for obstacle avoidance and
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