Obstacle Avoidance Robot

12/1/2016

ABSTRACTSelf-designed obstacle avoidance robot.

Elijah BarnerECET 402 Mechatronics W/ Lab

Table of Contents

Table of Illustration………………………………………………………. Pg. 2 and 4

Description of Operation…………………………………………………Pg. 6

Hardware Block Diagrams………………………………………………Pg. 7 and 8

Input/output Definitions………………………………………………….Pg. 9, 10, and 12

Theory of Operations…………………………………………………….Pg. 12

Software and Hardware Operations…………………………………..Pg. 13

Hardware, Implementations, and Findings……………………………..Pg.14

Appendances……………………………………………………………….Pg. 15

References…………………………………………………………………..Pg. 16

Table of Illustrations

A basic illustration of the hardware that was used:

Appendix A:

Appendix B:

Appendix C:

Description of Operations

This robot was designed and program to work autonomously to avoid and obstacle. For an

example if a wall or table is in front of it the ultrasonic sensor broadcast a signal using

transmitter radio frequency and wait for the signal to bounce to its receiver. Then the code in C

language translate the analog signal from the sensor to the microcontroller. Afterwards the DC

motor rotate clockwise or counter clockwise to go forward, backward, and changes directions.

Hardware Block Diagram I.

ARDUINO UNO

ADAFRUIT MOTOR SHEILD

Motor A Motor B

[Ultrasonic Sensor/ Transmitter and

Hardware Block Diagram II.

Input / Output Definition

A basic diagram for obstacle avoiding robots showing various input/outputs.

Appendix D

Power supply: 5 to 12 VDC

Arduino Uno:

Input voltage 5 to 12 VDC

Output voltage 3.3 to 5 VDC

Processor: AT-Mega 328

14 Inputs/Outputs pins

6 PWM and 6 analog inputs

16 MHz crystal oscillator

Supports both SPI and SCI

USB to serial bus connection

DC Motors:

2 to 10 VDC

Adafruit Motor Shield:

Four bidirectional support for DC motors.

Four H-bridge (L2930 chips support 0.6A of current.).

Supply voltage 4 to 12 VDC.

Theory of Operations

The theoretical aspects of operations depends on several major things how the ultrasonic sensor

interact with the real world. Also that interaction of real-world send an analog signal threw the

sensor to the microcontroller threw a feedback system the robot makes a decision on wither or

not to react to an obstacle in front of it and avoiding.

Software and Hardware Operations

Arduino interface using C programming:

Appendix E

Transmission and receiving of the analog signal (RF signal) the robot has to make the decision to avoid the wall/ obstacle in front of it. Black arrow transmission and Yellow indication of receiving.

Hardware, Implementation, and Findings

The Arduino UNO microcontroller was used as the main control module. The Parallax ultrasonic sensor

that is the transmitter and receiver for analog signal via radio frequency. Purchased both a plastic

hardware enclosure to hold all of the hardware and to also work as the chassis. The blue bracket also

purchase from RadioShack are also for the DC motors mount. Servo motor used was to give the robot the

ability to scan the surrounding area at angle of 180 degrees in of it also to judge the distances based on

location of the obstacle.

Appendices

Appendix A, B, C ………………………… Table of Illustration

Appendix D……………………………….. Input / Output Definition

Appendix E ……………………………….. Software and Hardware Operations

References:

http://www.robotshop.com/en/parallax-ping-ultrasonic-sensor.html? gclid=Cj0KEQiAsf_BBRDMpoOHw4aSq4QBEiQAPm7DLzlSWpTaBs8U9ZzwghEtEsEttbbjLX

mA9ANDTybU7agaArQS8P8HAQ

http://playground.arduino.cc/Main/UltrasonicSensor

https://www.arduino.cc/en/Main/ArduinoBoardUno

http://playground.arduino.cc/Main/AdafruitMotorShield