AUTONOMOUS AND INTELLIGENT ROBOT FOR OBSTACLE AVOIDING AND ANTIFALLING USING ULTRASONIC SENSORS

International Journal of Mechanical Engineering and Technology (IJMET)
Volume 9, Issue 5, May 2018, pp. 821–824, Article ID: IJMET_09_05_090
Available online at http://www.iaeme.com/ijmet/issues.asp?JType=IJMET&VType=9&IType=5
ISSN Print: 0976-6340 and ISSN Online: 0976-6359
© IAEME Publication
Scopus Indexed
AUTONOMOUS AND INTELLIGENT ROBOT
FOR OBSTACLE AVOIDING AND ANTIFALLING USING ULTRASONIC SENSORS
M. Haidas, B. Kadri and C. Benachaiba
Faculty of Technology, Laboratory of FABLAB,
University of Tahri Mohammed Béchar, UTMB. Algeria
ABSTRACT
Robots are used on multi-domain, where their conception requires a big study as like
in microcontrollers, sensors and code programming. Arduino with their shields had
given a solution for many problems because of their simplicity in electronic exploitation,
mostly in robotics. In this paper, we present a solution when the mobile robot avoiding
obstacle it cannot fall by using two ultrasonic sensors, Arduino uno, Servo motor and
Arduino motor shield Rev3. The first ultrasonic sensor is designed to measure the vertical
distance from the sensor itself to sol and the second is to measure the horizontal distance
from robot to avoiding obstacle. Our objective is to build an autonomous and intelligent
robot.
Keywords: Robot, Anti falling, Obstacle, ultrasonic sensor, Arduino.
Cite this Article: M. Haidas, B. Kadri and C. Benachaiba, Autonomous and Intelligent
Robot for Obstacle Avoiding and Anti-Falling Using Ultrasonic Sensors, International
Journal of Mechanical Engineering and Technology, 9(5), 2018, pp. 821–824
http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=9&IType=5
1. INTRODUCTION
The sensors in the robotic systems have a very important role especially to make a very
precise and difficult task like the so-called ultrasonic sensor HC-SR04 [1] that measures the
distance. In our robot, we use this sensor for two purposes, one to avoid obstacles ahead and
the second to avoid falls. These types of sensors based on sound speed in air, which is 340 m/s
at 25° C. The programming code developed in the Arduino [1], [2], [3], [4] microcontroller is
for a goal to make the Robot autonomous and intelligent.
2. PROPOSED ROBOT DESIGN
The proposed robot design and realization with all components is showen in figure 1. The two
DC Motors are driven by Arduino Motor Shield Rev3 [5],where the special movements for
our robot are go forward, backward, turn left, turn right and stop.
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Autonomous and Intelligent Robot for Obstacle Avoiding and Anti-Falling Using Ultrasonic
Sensors
Figure 1 shows the photograph of our robot
3. ROBOT OBSTACLE AVOIDING
The principal detection of the obstacle illustrated in figure 2 is done by upper ultrasonic
sensor where it sends a trigger signal and receive echo signal during a time. The distance
model calculated from the robot to the obstacle is demonstrating on programming code
showed in figure 3.
Figure 2 shows the Robot obstacle avoiding
Figure 3 shows the Ultrasonic sensor’s distance measure
In figure 4, we present an algorithm for movements of the robot on avoiding obstacles,
where the part that contains random [6] instruction, it is for arbitrary choosing to turn right or
left.
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M. Haidas, B. Kadri and C. Benachaiba
Figure 4 shows algorithm for the Robot on obstacle avoiding
4. ROBOT FALL AVOIDING
In figure 5, Lower ultrasonic sensor does the principal detection of the fall, and the algorithm
is illustrated in figure 6.
Figure 5 shows the robot on anti-falling
Figure 6 shows algorithm for the Robot on anti-falling
5. ROBOT OBSTACLE AVOIDING AND ANTI-FALLING
In this case, we combine between robot obstacle avoidance and anti-falling to obtain an
autonomous and intelligent robot.
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Autonomous and Intelligent Robot for Obstacle Avoiding and Anti-Falling Using Ultrasonic
Sensors
Figure 7 shows the robot on obstacle avoiding and anti-falling
6. CONCLUSION
The obstacles and the fall present a difficulty and a danger in the path traversed by the robots.
In this paper, we present an autonomous and intelligent robot for obstacle avoiding and antifalling.
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