Project Synopsis: Arduino-based Object-Avoiding
Car
Introduction
In the modern era, the development of autonomous vehicles has advanced
rapidly within the last ten years, as they have moved from prototype designs
to commercially available ones. Fully self-driving cars are still under
development; however most of their technological foundations have been laid
out in simpler designs like the Arduino based object avoiding car. This project
aspires to present the architectural designs of functioning collision avoidance
systems in autonomous vehicles and how the systems perform even in heavy
traffic without endangering other road users.
The project captures many essential characteristics of mobile robotics which
includes sensing, actuation and doing reasoning making it suitable as an
educative project to students and investors of good robotics, electronics and
coding.
This Arduino-based object avoiding car can be regarded as the first project of
its kind, designed to familiarize users with the concepts of autonomous
navigation and object avoidance. The main technology, which stands at the
genesis of the construction of the car, is the ultrasonic sensor, which is useful
in recoginizing the stationary objects around the car and changing direction.
Moreover, the project introduces simple practical understanding of sensor
incorporation and motion handling along with real time decision making
attributed to the less complex self systems control.
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Objective
The major aim of this undertaking is to design a working model of an object
avoiding car with the use of Arduino tools and ultrasonic Sensors. More
explicitly, the goals are:
1. Detection and Avoidance of Obstacles: To design a system that is
capable of recognizing obstacles in the way of the system and altering its
course to avoid such obstacles.
2. Exemplifying Technology of Autonomous Vehicles: To explain some of
the basic building blocks of autonomous navigation like the detection of the
obstacle, making a decision, and actuation.
3. For Educational Purposes: To give an opportunity for active practice to
students, tinkerers as well as engineers in building robots, programming
microcontrollers and working with sensors.
4. Decision-Making on the Go: To demonstrate how a microcontroller is
capable of receiving information from numerous primary sensors and
controlling actuators for motor-driven components in order to adjust the
trajectory of a car in accordance with external stimuli.
This project will help the users to understand the working of simple object
avoidance systems in automotive cars and how these concepts can be
extrapolated to bigger and more complicated systems.
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Components Overview
The construction of the Arduino based object avoiding car requires the use of numerous
components, each playing a crucial role in the car's autonomous navigation:
1. Microcontroller (Arduino Uno):
The system is built around the Arduino Uno, which serves as the master processing
device. It is responsible for processing data from the ultrasonic sensors and controlling the
motion of the car by sending electric signals to the motor driver circuit. Arduino is popular
among developers because it is very easy to use and also provides flexibility in controlling
hardware. With a little programming, a variety of sensors and motors can be connected.
2. Ultrasonic Sensors (HC-SR04):
The `HC-SR04 ultrasonic sensor detects the obstacles by sending out sound waves that
are high pitched and then measuring the length of time until the waves return. An based on
the measurement of its flight time, in particular the onboard computer determines how far
the object in the field of view of such a sensor is located. Such sensors are inexpensive,
performant and therefore popular in robotics.
3. Motor Drivers (L298N):
The L298N motor driver is another system component that plays a key role
in the movement of the car. It receives and translates the spring commands
into motion of the wheels attaching two DC motors. It is possible with the
L298N to propel the car forward or backward in addition to allowing it to make
turns of various angles depending on the axial rotation of the motors.
4. Chassis and Power Supply:
The chassis is the structure of the car aseptic mounts all the components.
The car also has to be powered in order to run while the Arduino and motors
can run on battery packs 9v or 12v. The power supply must be able to
provide sufficient current for the operation of the motors and sensors.
5. Motors and Wheels:
For this system, both DC motors are provided to drive the wheels. These
motors are connected to the L
Methodology
The methodology followed in this project can be divided into four main
phases: component selection, circuit assembly, programming, and testing
and calibration.
Component Selection
The selection of components is critical to ensure that the system works
effectively. The Arduino Uno was chosen due to its ease of programming and
compatibility with a variety of sensors and actuators. Ultrasonic sensors were
chosen for their simplicity and reliability in distance measurement. The L298N
motor driver was selected because it is a common and affordable motor
control solution, capable of handling the power requirements of the DC
motors used in the car.
Circuit Assembly
1. Connecting the Ultrasonic Sensors:
Arduino devices feature many digital pins to which ultrasonic sensors are
connected. The Trigger pin is for radiating the ultrasonic pulse and the Echo
pin is for receiving the reflected pulse. Using the distance calculation formula,
the Arduino attempts to find out how far away the roundtrip of the pulse was.
2.Motor Driver Connections:
The motor leads are controlled by connecting the L298 N driver towards the
Arduino PWM pins (pulsed-width modulated) motor driver. The L298N enable
pin is connected to the Arduino so that it can work, and Function Motors
provide you with control over the motor from the input pins.
3. Power Supply Connections:
A 9V or 12V battery is connected at the car’s power input. The Arduino is
also powered but through the Vin pin on board whilst the motors are powered
in a different way to ensure that enough voltage is supplied.
Logic Programming and Code
The Arduino has been programmed with Evan’s input to allow for distance
readings from the ultrasonic sensors and employ that information in
ascertaining whether the car should go move forwards, turn or stop. A basic
structured flow of the programming logic is given below:
1. Integer readDistance(): When the distance from the sensor is to be
determined, the Arduino board pulses an ultrasonic sensor and counts how
long the response takes.
2. void armMotors(): If the said distance is less than a certain limit for
instance 20cm, the Arduino board arms the motors to stop or reverse.
3. void controlMovement(): A motor driver is used by the program to control
the motion by sending signals at the appropriate times. After the obstacle is
gone, the vehicle moves forward; otherwise, the vehicle turns to the left or
right.
Testing and Calibration
After connecting and writing the necessary code, different tests will be
conducted for the whole system. The range of the sensor is normalized, and
the response of the motors tuned for effective and seamless navigation
through obstacles. During the testing phase, the car is confirmed to be able to
respond appropriately upon encountering obstacles and to be capable of
driving around them without any crash.
Future Scope
While the current project demonstrates basic object avoidance, there are
several possibilities for future improvements and applications:
- Development of Advanced Sensor Systems
- Lidar and Infrared Equipment: Object avoiding car can use more
sophisticated equipment such as LiDAR or infrared sensors allowing it to
sense objects precisely and at a longer distance. The use of LiDAR could
also enable the vehicle to generate a three-dimensional view of its
surrounding improving its navigation skills.
- Multiple Ultrasonic Sensors: Placing several ultrasonic sensors at
different locations on the car will also improve the range of detection and
subsequently the obstacle detection capability up to several angles.
Ostensibly enhanced algorithms and pathfinding
- Pathfinding Algorithms: The pathfinding algorithm used currently is
simple. More advanced pathfinding algorithms like A (A-star) or Dijkstra’s
Algorithm can be used to select the best possible path around the obstacles
by the car when faced in the higher possibility of walls, especially in irregular
habitations like mazes.
- Machine Learning: As the system becomes more advanced, machine
learning models will make it possible to incorporate cars in the learning
process so that their driving is adjusted to fit the terrain with mastered
relevant skills.
Vehicle-To-Vehicle Communication (V2V).
- Wireless Communication: The achievement of V2V communication can
be facilitated by fitting Bluetooth or Wi-Fi units in the cars such that they are
able to communicate and relay information about the obstacles in their way to
reduce congestion and its effects. This may further allow independent
complementary dynamics in the motion of vehicles within a traffic zone.
Application in the real world
- Autonomous Delivery Robots: The same principles behind this object-
avoiding car could be adapted for autonomous delivery robots which could
move through the indoor premises to distribute the parcels.
Smart City Integration: The vehicle may be fitted into smart city applications
enabling the use of sensors and communication with traffic lights and nearby
cars to enhance safety and traffic flow.
Drawbacks
While the project is a great learning experience, several limitations exist:
Constrained Range of Operation:
Ultrasonic sensors are limited by the detection range usually not exceeding 4
meters. Obstacles beyond this range are unlikely to be detected in time most
especially when high speeds are used.
Vulnerability to Environmental Impediments:
In some situations, and extreme environments, ultrasonic sensors may fail to
perform as expected. For instance:
- In the Presence of Rain, Fog, or Dust - These will obstruct the ultrasonic
waves and hence distance measurement associated errors.
- Types of Surfaces: Some surfaces like shiny metals or even glasses do
not reflect sound waves effectively leading to apparent distortion in the
detected distance.
Erroneous Readings and Discriminative Features of Objects
- Erroneous Readings – When the detecting sensors encounter smooth
surfaces for example walls not directly in the line of the car movement, and
tall buildings this creates erroneous readings
- Discriminative Features of Objects – Currently the car is treating all the
obstacles in the same manner, making it difficult to identify soft objects e.g.
pillows, and hard objects e.g. walls.
Limited Navigation
The car can only move in simple directions (forward, backward, left, right).
More complex behaviors, such as avoiding dynamic obstacles or navigating
in a crowded environment, are beyond its current capabilities.
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Conclusion
The Arduino-based object-avoiding car is a very useful project which teaches
the basics of autonomous vehicles and robotics engineering. The integration
of an ultrasonic sensor, motor driver, and real-time control, helps in practically
demonstrating the interaction of autonomous systems with the environment.
Attainable results are, however, limited by factors such as range and
environmental degradation of the sensor used, but the benefits of the project,
both educational and for future application, are clear.
Thanks to advances in sensors, algorithms, and means of communication,
the system can be implemented in more sophisticated autonomous systems.
In the final analysis, this project is the first baby steps into making sense of
the autonomous cars and robotics and calls for more advanced systems in
real life.
