Obstacle Avoiding Robot(Robotics Project)

Project : 10

OBSTACLE AVOIDING ROBOT

Introduction

The Line Following Robot is a simple autonomous robot that follows a predefined path marked by a contrasting line on the ground. It utilizes infrared sensors to detect the line and adjust its movement accordingly. This project demonstrates the basic principles of robotics, including sensor integration, decision-making, and motor control.

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Components Required

1. 1) Arduino Board (or compatible microcontroller)
2. 2) Infrared Sensors (2x)
3. 3) Motor Driver (L298N or similar)
4. 4) DC Motors (2x)
5. 5) Robot Chassis
6. 6) Wheels (2x)
7. 7) Power Source (Battery pack or similar)
8. 8)Jumper Wires(20x)

Pin Configuration

• Motor Driver:
• in1, in2, in3, in4: Control pins for motor direction
• 
  
• Infrared Sensors:
• R_S: Right sensor pin
• L_S: Left sensor pin
• 
  

Libraries Used

No external libraries are used in this project.

 

Circuit Diagram:

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Code:

#include <ESP32Servo.h>

boolean goesForward = false;

int distance = 100;

Servo servo_motor;

#define trigPin 5

#define echoPin 18

long duration;

#define in1 27

#define in2 26

#define in3 25

#define in4 33

#define servoPin 15

 

void setup() {

  Serial.begin(115200);

  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

  pinMode(echoPin, INPUT); // Sets the echoPin as an Input

 

 

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

  servo_motor.attach(servoPin);

  servo_motor.write(115);

  delay(2000);

 

  distance = readPing();

  delay(100);

  distance = readPing();

  delay(100);

  distance = readPing();

  delay(100);

  distance = readPing();

  delay(100);

 

}

 

void loop() {

  int distanceRight = 0;

  int distanceLeft = 0;

  delay(50);

  if (distance <= 20) {

    moveStop();

    delay(300);

    moveBackward();

    delay(400);

    moveStop();

    delay(300);

    distanceRight = lookRight();

    delay(300);

    distanceLeft = lookLeft();

    delay(300);

    if (distance >= distanceLeft) {

      turnRight();

      moveStop();

    }

    else {

      turnLeft();

      moveStop();

    }

  } else {

    moveForward();

  }

  distance = readPing();

 

}

 

int lookRight() {

  servo_motor.write(50);

  delay(500);

  int distance = readPing();

  delay(100);

  servo_motor.write(115);

  return distance;

}

 

int lookLeft() {

  servo_motor.write(170);

  delay(500);

  int distance = readPing();

  delay(100);

  servo_motor.write(115);

  return distance;

}

 

int readPing() {

  digitalWrite(trigPin, LOW);

  delayMicroseconds(2);

  // Sets the trigPin on HIGH state for 10 micro seconds

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(10);

  digitalWrite(trigPin, LOW);

  // Reads the echoPin, returns the sound wave travel time in microseconds

  duration = pulseIn(echoPin, HIGH);

  // Calculating the distance

  distance = duration * 0.034 / 2;

  // Prints the distance on the Serial Monitor

  Serial.print("Distance: ");

  Serial.println(distance);

 

  delay(20);

  if (distance == 0) {

    distance = 250;

  }

  return distance;

}

 

void moveForward() {

  if (!goesForward) {

    goesForward = true;

    digitalWrite(in1, HIGH);

    digitalWrite(in2, HIGH);

    digitalWrite(in3, LOW);

    digitalWrite(in4, LOW);

  }

}

void moveBackward() {

  goesForward = false;

  digitalWrite(in1, HIGH);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

}

 

void turnRight() {

  digitalWrite(in1, HIGH);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

  delay(500);

  digitalWrite(in1, HIGH);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

 

}

void turnLeft() {

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, HIGH);

  delay(500);

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, HIGH);

}

void moveStop() {

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

}

Working

1. Initialization:
• Set up the necessary pins for motor control and sensor input.
• 
  
2. Main Loop:
• Continuously monitor the state of the infrared sensors.
• Based on the sensor readings, adjust the robot's movement to follow the line.
• 
  
3. Forward Movement:
• If both sensors detect the line, move forward.
4. Right Movement:
5. 
   
6. If only the right sensor detects the line, turn right to re-align with the line.
7. 
   
8. Left Movement:
• If only the left sensor detects the line, turn left to re-align with the line.
9. Stop:
• If both sensors lose track of the line, stop the robot.

 

 

Testing

1. Setup:
• Assemble the robot chassis, attach wheels and motors.
• Mount the infrared sensors close to the ground with one sensor on each side of the robot.
• 
  
2. Line Following:
• Place the robot on a track with a contrasting line.
• Observe the robot's behavior as it follows the line.
• Adjust the sensitivity of the sensors if needed.
• 
  
3. Edge Cases:
• Test the robot's performance on sharp turns, intersections, and varying line thicknesses.
• Ensure that the robot can recover from deviations and continue following the line accurately.
• 
  

Conclusion

The Line Following Robot project demonstrates a fundamental concept in robotics and automation. By using infrared sensors to detect a line's presence, the robot can navigate predefined paths autonomously. This project serves as a starting point for more advanced robotics applications such as maze-solving robots, industrial automation, and self-driving vehicles. Further enhancements to this project could include adding PID control for smoother movement, integrating wireless communication for remote control, and implementing obstacle avoidance algorithms for increased versatility.

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