Automotive Engineering & Marine Engineering

PROJECT REPORT

Obstacle Avoiding 4WD

Arduino Robot

1. Soha Jamil (AU-001)

2. Lahmeen Binte Hayder (AU-002)
3. Usamah Bin Taufique (AU-011)
4. Danish Enam (AU-014).

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I. ABOUT AUTHORS .................................................................................................................... 3

II. INTRODUCTION ...................................................................................................................... 4

III. OBJECTIVES .............................................................................................................................. 5

IV. LITERATURE REVIEW .................................................. ERROR! BOOKMARK NOT DEFINED.

CONCLUSION ……………………..................................................................................................14

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 ABOUT AUTHORS
This report is written by five undergraduate students of NED University of Engineering
and Technology namely, Soha Jamil (AU-001), Lahmeen Binte Hayder (AU-002),
Usamah Bin Taufique (AU-011) and Danish Enam (AU-014).
The First year students are from Automotive Engineering Program. The team is
comprised of legitimate learners.

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 Introduction
The primitive purpose of the project “Obstacle Avoiding 4WD Arduino Robot”, is to
sense the hindrance without being manually encoded. First and foremost an Arduino is
used to create this, with a servo motor and a hurdle sensor featuring it.
Arduino is basically an open-source hardware. It can receive input signals from various
sensors and inputs. It is able to run independently or communicate with software running
on a computer.

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 Objectives
This is 4WD robot with an ultrasonic sensor that can detect nearby objects and
change its direction to avoid these objects. The ultrasonic sensor is attached to a
servo motor which is constantly scanning left and right looking for objects in its
way.

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 LITERATURE REVIEW
DISCRIPTION
Materials Required:
Parts:
1. 4WD Robot Chassis kit
2. Arduino Nano
3. LM298 H-bridge Module
4. Rocker Switch
5. 2 x 18650 Li Ion Battery
6. 2x 18650 Battery Holders
7. Mini Bread Board
8. 0.5 sq. mm Wires
9. Male-Female Jumper Wires
10. Male-Male Jumper Wires
11. Servo Motor
12. Duct Tape or any other tape

For Obstacle Avoiding Robot:

HC - SR04 Ultrasonic Distance Measuring Module

Tools Required:
1. Soldering Iron
2. Wire Cutter
3. Wire Stripper
4. Glue Gun

What Is a Robot?
Robot is an electromechanical device which is capable of reacting in some way to its
environment, and take autonomous decisions or actions in order to achieve a specific
task.
A robot basically consists of following components:
1. Structure / Chassis
2. Actuator / Motor
3. Controller
4. Inputs / Sensors
5. Power Supply

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 1. Structure / Chassis
The structure consists of physical components. A robot has one or more physical
components that move in some way to perform the task. In our case the Chassis and
wheels are the structure of the robot.

2. Actuator /Motor
An “actuator” can be defined as a device that converts energy into physical motion. Most
of the actuators produce either rotational or linear motion.
In our case the actuator is DC gear motor. It is basically a DC motor combined with a
gearbox that works to decrease the motor’s speed and increase the torque.
Example:
A DC motor having speed 3000 rpm and torque 0.002 N•m.
Now we add a gear to it with gear ratio 1:48.
The new speed is reduce by a factor 48 (resulting 3000/44 = 68 rpm) and the torque
increased by a factor of 48.
Resulting 0.002 x 48 = 0.096 N.m.

To Prepare the Motors Terminal

Cut 4 pieces of red and black wires with length approximately 5 to 6 inch. Use 0.5 sq.
mm wires.
Strip out the insulation from the wires at each end
Solder the wires to the motor terminal.
Must check the motor polarity by connecting it to the battery pack. If it rotates in forward
direction (red wire with positive and black wire with negative terminal of the battery)
then the connection is ok.
Mount the Motor
Attach the two acrylic fastener to each motor using two long bolts and two nuts. Note that
the wires on each motor are pointing toward the center of the chassis.
Join the two red wires and black wires of the motor on each side of the chassis,
so after joining, there are two terminals on left side and two terminal on right side.
Install the Top Roof
After mounting the 4 motors on the bottom floor, mount the top roof.
Mount the 6 copper stand off by using the M3 nuts.
Pull out the terminal wires towards the top roof.

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 3. Controller
Now the robot chassis and actuator are added but controller is missing. Chassis without
controller means nothing will happen. The robot will sit in one place. It’s just like a
human without life.
So a controller (brain) is needed to move the robot from one place to another. It is a
computing device capable of executing a program and is responsible for all computations,
decision making, and communications. In our case, we are using an Arduino Nano
microcontroller mainly as a Controller.
The controller takes input (sensors, Remote etc.), process it and then gives a command to
the actuator (motor) to do the desired task.
A battery hook the positive side to one side of your DC motor. Then connect the negative
side of the battery to the other motor lead. The motor spins forward. Swapping the battery
leads the motor spins in reverse. Now the microcontroller is used to rotate the motor in
one direction.

H Bridge (LM 298 Module)

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What is H- Bridge?
It is a circuit which can drive a DC motor in forward and reverse direction.
Working:
See the above picture for understanding the working of the H Bridge. It is consists of 4
electronics switches S1, S2, S3 and S4 (Transistors / MOSFETs/ IGBTS).
When the switches S1 and S4 are closed (and S2 and S3 are open) a positive voltage will
be applied across the motor. So it rotates in the forward direction. Similarly when S2 and
S3 are closed and S1 and S4 are opened a reverse voltage is applied across the motor, so
rotates in reverse direction.
Note: The switches in the same arm (S1, S2 or S3, S4) are never closed at a same time, it
will make a dead short circuit.
H bridges are available as integrated circuits.
In our case we are using LM298 H-bridge IC that can allows to control the speed and
direction of the motors.
Pin Description:
Out 1: DC motor 1 "+" or stepper motor A+
Out 2: DC motor 1 "-" or stepper motor A-
Out 3: DC motor 2 "+" or stepper motor B+
Out 4: Motor B lead out
12v:12V input but you can use 7 to 35V
GND: Ground
5v: 5V output if 12V jumper in place, ideal for powering your Arduino (etc.)
EnA: Enables PWM signal for Motor A (Please see the "Arduino Sketch Considerations"
section)
IN1: Enable Motor A
IN2: Enable Motor A
IN3: Enable Motor B
IN4: Enable Motor B
BEnB: Enables PWM signal for Motor B (Please see the "Arduino Sketch
Considerations" section)

4. Input / Sensors
Robots use different sensors to interact with the external world.
A sensor is a device that detects and responds to some type of input from the physical
environment. The specific input could be light, heat, motion, moisture, pressure, or any
one of a great number of other environmental phenomena.
The inputs may be from sensors, Remote or Smartphone.

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 5. Power Source
A robot needs a power source to drive the actuators (motors) and the controller. Most of
the robots are powered by a battery
A rechargeable and sufficient capacity, 2nos of 5000mAh Li Ion Battery is used.
Battery Holder:
The battery holder is attached to two neodymium magnets on the positive terminal of the
battery to fit perfectly.
Charging:
A good charger is required to charge the battery pack.
Mounting components:
On the top roof mount the entire circuit.
Screw it or use glue to mount the Battery Holder, Motor Driver (LM 298) and Mini
Bread Board.
Insert the Arduino Nano on to the mini bread board.
Electrical Wiring:
For wiring some jumper wires are needed.
Connect the red wires of two motors (on each side) together and black wires
together. So finally there are two terminals in each side.
MOTOR ’A’ is in charge of two right side motors, correspondingly two left side
motors are connected to MOTOR’B’.
Instructions below are followed to connect everything.
Motor Connections:
Out1 -> Left Side Motor Red Wire (+)
Out2 -> Left Side Motor Black Wire (-)
Out3 -> Right Side Motor Red Wire (+)
Out4 -> Right Side Motor Black Wire (-)
LM298 - > Arduino
IN1 -> D5
IN2-> D6
IN2 ->D9
IN2-> D10

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Power:
12V - > Connect Battery Red Wire
GND -> Connect Battery Black wire and Arduino GND pin
5V -> Connect to Arduino 5V pin

Adding Features:
The next task is to add more features in it.
1. Adding Ultrasonic Ping Sensors, for obstacle avoiding.
2. Programming of Arduino Nano board.

CIRCUIT DIAGRAM:

EXPECTED BENEFITS:
Some of the benefits of obstacle avoiding robot are:
1. An industrial robot in a factory is expected to avoid workers so that it won’t hurt
them.
2. Obstacle avoiding robots can be used in almost all mobile robot navigation
systems.
3. They can be used for household work like automatic vacuum cleaning.
4. They can also be used in dangerous environments, where human penetration
could be fatal.

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 Conclusion
These kits are a great solution for beginners, and the engineers to build their knowledge
in Arduino and Robots by designing cool projects. Almost all navigation robot demands
the some sort of obstacle detection, hence obstacle avoidance strategy is of most
importance. Obstacle Avoidance Robot has a vast field of application. They can be used
as services robots, for the purpose of household work and so many other indoor
applications. Equally they have great importance in scientific exploration and emergency
rescue, there may be places that are dangerous for humans or even impossible for humans
to reach directly, then we should use robots to help us. In those challenging
environments, the robots need to gather information about their surroundings to avoid
obstacles. Nowadays, even in ordinary environments, people require that robots to detect
and avoid obstacles. For example, an industrial robot in a factory is expected to avoid
workers so that it won’t hurt them. In conclusion, obstacle avoidance is widely
researched and applied in the world, and it is probable that most robots in the future
should have obstacle avoidance function.

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