Long Term Event

Report on
“OBSTACLE DETECTION BOT”

Subject Name: Communication System II

Subject Code: 22EC440

Submitted by

Name USN Marks (20)

Anagha V Bhat 02JST23UEC030

Poorvi M Bellavara 01JST23UEC034

Pramathi H B 01JST23UEC036

Under the guidance of

Dr. Gayathri H M
Associate Professor
Department of ECE
SJCE, JSSSTU, Mysore

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

JSS SCIENCE AND TECHNOLOGY UNIVERSITY
SRI JAYACHAMARAJENDRA COLLEGE OF ENGINEERING
JSS TECHNICAL INSTITUTIONS CAMPUS
MYSURU-570006

ABSTRACT
This project presents the design and implementation of an obstacle avoidance robot vehicle that utilizes
an ultrasonic sensor system for autonomous navigation. The robot is built using an Arduino
microcontroller as the central processing unit, interfaced with various hardware components including
ultrasonic sensors, motor drivers, and wheel encoders. The ultrasonic sensor is strategically mounted on
the front portion of the robot to continuously monitor the environment for nearby obstacles. As the robot
moves, the ultrasonic sensor emits sound waves and receives the reflected waves from nearby objects to
determine the distance between the robot and potential obstacles. The collected data is sent to the
Arduino controller, which processes the information in real time. Based on the measured distances, the
microcontroller makes intelligent decisions to control the direction and movement of the robot’s wheels.
If an obstacle is detected within a critical range, the robot dynamically adjusts its path by either stopping,
turning, or choosing an alternate route that is obstacle-free.
The use of wheel encoders helps in providing feedback about the rotation and position of the wheels,
allowing more accurate control over movement and orientation. This ensures smooth navigation and
precise turning even in constrained or cluttered environments.The overall goal of this system is to enable
autonomous movement by detecting and avoiding obstacles effectively, without requiring any external
intervention. Such a robot can be widely used in various fields including search and rescue operations,
autonomous delivery systems, military reconnaissance, and warehouse automation where human access
may be limited or unsafe. The project demonstrates the integration of simple yet powerful sensor-based
decision-making capabilities into robotic vehicles for intelligent behavior and safer navigation

TABLE OF CONTENT
 SL NO. CONTENT PAGE NO.

1. INTRODUCTION
1-2

2. LITERATURE SURVEY
2-3

3. MOTIVATION
3

4. PROBLEM STATEMENT
3

5. OBJECTIVE
3

6. CIRCUIT DIAGRAM
4

7. METHODOLOGY
4-9

8. RESULT AND DISCUSSION

9-11

9. CONCLUSION
11

10. REFERENCE
12

INTRODUCTION
Obstacle detection is a fundamental aspect of autonomous robotic navigation and plays a crucial role in
ensuring the safety and efficiency of mobile systems. In recent years, the demand for intelligent robotic
platforms capable of navigating complex environments without human intervention has grown
significantly. One of the most effective ways to achieve this autonomy is through real-time obstacle
detection and avoidance systems.
This project focuses on implementing an obstacle detection system using the Arduino Mega 2560
microcontroller, which serves as the central processing unit. The Arduino Mega is well-suited for
robotics applications due to its expanded memory, higher number of input/output pins, and multiple
serial communication ports, allowing seamless integration of various sensors and actuators.
The system employs ultrasonic sensors to detect obstacles in the robot’s path. These sensors work by
emitting high-frequency sound waves and measuring the time taken for the echoes to return after hitting
an object. This time-of-flight data is used to calculate the distance to nearby objects, enabling the robot
to identify and avoid obstacles effectively.
By combining real-time sensor data with intelligent control logic programmed into the Arduino Mega,
the robot can autonomously navigate through unknown environments. This project demonstrates how
simple, low-cost components can be integrated to create a responsive and efficient obstacle detection
system suitable for applications in autonomous vehicles, robotics education, and industrial automation.

LITEARATURE SURVEY
Obstacle detection and avoidance is a core requirement in the field of autonomous robotics. Numerous
studies have been conducted to develop low-cost, efficient, and accurate systems for detecting objects
and avoiding collisions. This section reviews some of the most relevant research works in this domain.
Yasin et al. proposed a low-cost ultrasonic-based object detection and collision avoidance system for
autonomous robots. Their work emphasized the affordability and effectiveness of ultrasonic sensors in
providing real-time feedback for obstacle avoidance. They demonstrated that integrating multiple
sensors enhances the robot’s ability to detect objects at various angles, improving its navigational
accuracy.
Biswas et al. developed a system for moving object detection using ultrasonic radar, which also provided
direction, shape, and distance analysis. Their method allowed more precise environmental awareness,
which is essential in dynamic settings. This study is significant for highlighting the possibility of using
ultrasonic data beyond mere distance measurement.
Majchrzak et al. introduced a long-range ultrasonic sensor system for distance estimation. Their research
explored hardware and signal-processing techniques to increase accuracy over extended ranges, proving
beneficial for robots operating in open or large indoor spaces.
Shrivastava et al. employed ultrasound sensors with the P89C51RD2 microcontroller for obstacle
detection and distance measurement. Though older, this study laid foundational work by showing how
microcontrollers and ultrasonic technology can be integrated for reliable object detection.
Nduanya et al. implemented an Arduino-based door automation system using ultrasonic sensors and
servo motors. This paper demonstrates practical use of Arduino microcontrollers in automation and
obstacle sensing tasks, supporting the feasibility of Arduino-based systems for similar robotics
applications.
Ercan and Mohammed proposed a distance measurement and object detection system using ultrasonic
sensors and XBee modules for wireless communication. Their system proved effective in transferring
sensor data wirelessly to a remote base, which is useful for IoT-based robotics and surveillance.
Hameed et al. built an Arduino-based radar system that could detect objects in a given range using
ultrasonic sensors. This system visually represented obstacles using a radar-like interface, improving
user interaction and real-time monitoring.
Kulkarni et al. proposed a RADAR-based object detector using ultrasonic sensors. Their approach used
servo motors to rotate the sensor in a sweeping pattern, increasing coverage area and obstacle detection
accuracy. This method enhances robot awareness without adding more sensors.
Soni et al. developed a simple yet effective method for distance measurement using ultrasonic sensors
and Arduino. The system was able to detect static objects within a certain range and is widely referenced
for educational and prototyping purposes due to its simplicity and reproducibility.
Anadu et al. focused on vehicle collision detection and avoidance in VANET environments. While their
work was more vehicle-focused and utilized advanced networking concepts, it aligns with the goal of
using sensing technology to ensure safe autonomous navigation.
MOTIVATION
In real-world environments, autonomous robots often face unpredictable obstacles that can cause
collisions, damage, or failure. Imagine a robot navigating through a disaster zone, warehouse, or elderly
care home without the ability to detect and avoid obstacles, it becomes more of a hazard than a help.For
many such applications, reliable obstacle detection is essential. Studies show that over 60% of
navigation errors in mobile robots stem from inadequate sensing. This highlights the need for a system
that can accurately perceive its surroundings and respond in real time.This project is motivated by the
need to build an affordable, intelligent robotic vehicle using Arduino Mega and ultrasonic sensors. The
goal is to create a system capable of safe and autonomous movement, enhancing both efficiency and
safety in complex environments.
PROBLEM STATEMENT
Existing wheelchairs do not adequately support users with limited motor functions or speech
impairments, highlighting the need for an intelligent, voice-controlled system that ensures safe,
independent, and accessible mobility
OBJECTIVES
• To design and implement an autonomous robotic vehicle capable of detecting and avoiding obstacles.
• To utilize Arduino Mega as the central controller for processing sensor data and controlling
movement.
• To enable real-time obstacle detection and path deviation based on sensor inputs.
• To ensure smooth and safe navigation in dynamic or unfamiliar environments without human
intervention.
• To build a low-cost, energy-efficient, and reliable robotic platform suitable for indoor or controlled
outdoor use.
• To demonstrate practical applications of sensor-based automation in robotics for tasks like
surveillance, assistance, or exploration.

METHODOLOGY
 Fig1.Block diagram of Obstacle Detection Bot using Ultarsonic sensor

The working of the obstacle detection bot begins with the ultrasonic sensor, which continuously emits
ultrasonic waves and listens for the reflected signals (echo) from nearby objects. By calculating the time
interval between sending and receiving the signal, the sensor determines the distance of the obstacle.
This distance data is sent to the Arduino Mega, which acts as the main controller. The Arduino processes
the input and compares it with a predefined threshold distance. If the measured distance is greater than
the threshold, it sends a command to the motor driver to move the robot forward. If an obstacle is
detected within the threshold range, it instructs the motor driver to either stop or change direction to
avoid the obstacle.The Arduino Mega is powered by a voltage supply box, which also provides power to
the L298N motor driver. This motor driver receives the control signals from the Arduino and uses them
to regulate the operation of two DC motors. The L298N driver controls the speed and direction of the
motors by modulating the power supplied to them. These motors are connected to two wheels, which
enable the robot to move accordingly. Thus, the robot uses continuous distance monitoring and
responsive motor control to detect and avoid obstacles autonomously during navigation.

COMPONENTS REQUIRED
Ultrasonic Sensors (HC-SR04):
Non-contact distance measurement sensors that use ultrasonic waves to detect obstacles.
Operating range of 2cm to 400cm with high accuracy. Multiple sensors provide
comprehensive obstacle detection coverage around the robot.
Arduino Microcontroller:
Central processing unit that receives sensor data, processes obstacle avoidance algorithms,
and generates control signals for motor operations. Features digital and analog I/O pins
for interfacing with sensors and actuators.
L298N Motor Driver Module:
Dual H-bridge motor driver that amplifies control signals from microcontroller to drive
DC motors. Provides bidirectional control with PWM speed regulation and overcurrent
protection for reliable motor operation.
DC Motors:
Geared DC motors providing mechanical drive for robot locomotion. Variable speed
control enables forward, reverse, and turning movements based on differential
speed control of left and right motors.
Wheels and Chassis:
Three-wheel configuration with two driven rear wheels and one front caster wheel.
 This design provides stability while enabling smooth turning maneuvers.
Voltage Supply Box:
An external regulated voltage supply box is used to power all system components. It provides a stable
and consistent DC voltage output suitable for the microcontroller, sensors, and motor drivers. This setup
ensures uninterrupted operation and removes the need for rechargeable batteries, offering ease of use and
reliable power delivery in lab or bench-top environments.
CIRCUIT DIAGRAM

Fig2.Circuit Diagram of Obstacle Detection BOT

The image illustrates the hardware wiring of an obstacle detection robot using an Arduino Uno,
ultrasonic sensor (HC-SR04), L298N motor driver, and two DC motors. The ultrasonic sensor is
connected to the Arduino to continuously measure the distance to obstacles ahead. These distance
readings are processed by the Arduino, which sends control signals to the L298N motor driver
accordingly. The motor driver receives power and instructions from the Arduino to control the direction
and speed of the two DC motors, which are connected to the wheels. Based on the presence or absence
of obstacles detected by the sensor, the Arduino instructs the motors to either move forward, stop, or turn
to avoid collisions. The setup is powered through USB or an external source, making it a compact and
autonomous robotic system for real-time obstacle avoidance.

CODE SNIPPET
#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7
#define ENA 10
#define ENB 11
#define TRIG 9
#define ECHO 8
void setup() {
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
analogWrite(ENA, 200); // Speed between 0-255
analogWrite(ENB, 200);
pinMode(TRIG, OUTPUT);
pinMode(ECHO, INPUT);
Serial.begin(9600);
}
long getDistance() {
digitalWrite(TRIG, LOW);
delayMicroseconds(2);
digitalWrite(TRIG, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG, LOW);
long duration = pulseIn(ECHO, HIGH);
long distance = duration * 0.034 / 2;
return distance;
}
void moveForward() {
Serial.println("Moving forward");
 digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
void stopMotors() {
Serial.println("Obstacle detected! Stopping.");
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
void loop() {
long distance = getDistance();
Serial.print("Distance: ");
Serial.print(distance);
Serial.println(" cm");
if (distance > 20) {
moveForward();
} else {
stopMotors();
}
delay(50); // Small delay to stabilize

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