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Robot Car 4WD with Arduino, Obstacle Avoiding.
 
 
  Home :  Chapter 5: 4WD Robot Car, Obstacle Avoiding                                                                                                                              Home
 
The Chapters :      1  2   3   4   5   6 
 

Chapter 5: 4WD Robot Car, Obstacle Avoiding.
 
 
 
  1- Obstacles Avoidance robot and Follower robot , Project description
 
An obstacle avoiding robot is a fully autonomous robot which can be able to avoid any obstacle which it face when it move.

Simply, when it met an obstacle while it moving forward, automatically stop moving forward and makes a step back.

Then it looks it's two sides left & right and starts to move the best possible way; which means either in left direction if there is another obstacle in right or in right direction if there is another obstacle in left side.

Obstacle avoiding robots actually avoid obstacles using sensors like ultrasonic where they calculate by transmission and receiving of radiations. These kinds of technology can be used in automated automobiles or trains where when they find something big in their way they would stop preventing damage. Obstacle follower on the contrary follows the obstacle.
 
 2- Components Used in Obstacles Robot
 
  Types Qty
2.1 Arduino Uno R3 1pcs
2.2 V5.0 Expansion board 1pcs
2.3 L293D motor driver board 1pcs
2.4 BO motor 4pcs
2.5 Servo motor 1pcs
2.6 Ultrasonic Sensor 1pcs
2.7 Wheel 4pcs
2.8 Battery Case + Lithium-ion battery 1pcs + 2pcs
2.9 Acrylic plates 2pcs
2.10 USB cable 1pcs
2.11 Servo motor fixed plate + Ultrasonic holder 1pcs + 1pcs
2.12 Aluminium Block 4pcs
2.13 F-F dupont wire  
 
 3- Obstacles Avoidance robot and Follower robot, Servo Motor and Ultrasonic
 
 

 
3.1   Steering gear is a Servo motor that moves the ultrasonic sensor from left to right
3.2   Ultrasonic distance sensor, which consists of a transmitter and receiver. The sensor measures how far things are without touching them, and it uses sound waves to get the measurements right. It can work well when things are between two to four centimeters away.
 
 
  4- Video, Obstacles Avoidance and Follower Of the Multi-Functional 4 Wheel Drive Robot Car
  4.1- Watch Video on Youtube, Arduino Smart Car, Obstacles Avoidance Robot  - Part 4   السيارة الذكية - روبوت تجاوز وتتبع الحواجز، الدرس 32 - الجزء 4 - للمهندس حمزة عمار
   Video on Youtube, Arduino Smart Car, Obstacles Avoidance Robot and Follower Robot  - Part 4 https://www.youtube.com/watch?v=SW0VhwAhKPY&t=0s
 
  5- Project 1,  Obstacles Avoidance robot  -  Code, use the Mixly block programming  
 
  5.1-  the Description  of the Current Application

 
   5.2- the Code  of the Current Application (Line Following), Using the Mixly Software Current Mixly application - (3.76 KB zip file)   download
 
    5.2.1- Picture, the Mixly Blocks(block programming) of the Current Application

 
    5.2.2- Picture,  the Mixly Code of the Current Application, Equivalent to C++

 
    5.2.3- the Code  of the Current Application
#include <Servo.h>

volatile int IN1;
volatile int IN2;
volatile int IN3;
volatile int IN4;
volatile int rightDistance;
volatile int leftDistance;
Servo servo_4;

void left_side_forward(int speed) {
// Left
analogWrite(IN1,(speed * 0.90));
analogWrite(IN2,0);
}

void right_side_forward(int speed) {
// Right
analogWrite(IN3,speed);
analogWrite(IN4,0);
}

void left_side_backword(int speed) {
// Left
analogWrite(IN1,0);
analogWrite(IN2,(speed * 0.90));
}

void right_side_backward(int speed) {
// Right
analogWrite(IN3,0);
analogWrite(IN4,speed);
}

float checkdistance_A1_A2() {
digitalWrite(A1, LOW);
delayMicroseconds(2);
digitalWrite(A1, HIGH);
delayMicroseconds(10);
digitalWrite(A1, LOW);
float distance = pulseIn(A2, HIGH) / 58.00;
delay(10);
return distance;
}

void forward(int speed) {
left_side_forward(speed);
right_side_forward(speed);
}

void backword(int speed) {
left_side_backward(speed);
right_side_backward(speed);
}

void left(int speed, int time) {
left_side_backward(speed);
right_side_forward(speed);
delay(time);
stop();
}

void right(int speed, int time) {
left_side_forward(speed);
right_side_backward(speed);
delay(time);
stop();
}

void stop() {
left_side_forward(0);
right_side_forward(0);
}

void setup(){
IN1 = 11;
IN2 = 6;
IN3 = 5;
IN4 = 3;
rightDistance = 3;
leftDistance = 3;
servo_4.attach(4);
pinMode(A1, OUTPUT);
pinMode(A2, INPUT);
}

void loop(){
servo_4.write(90);
delay(500);
while (checkdistance_A1_A2() > 15) {
forward(100);
}
stop();
servo_4.write(0);
delay(500);
rightDistance = checkdistance_A1_A2();
servo_4.write(180);
delay(500);
leftDistance = checkdistance_A1_A2();
if (rightDistance >= leftDistance) {
right(200, 380);

} else {
left(200, 380);

}

}
 
    5.2.4- Test the Current Application
     1- Connect the Arduino UNO board of the 4WD robot car to computer’s USB port with USB cable to upload the code
     2- if the Code upload success, Turn the Power Slide switch ON
 
 
  6- Project 2,  Obstacles  Follower Robot  -  Code, use the Mixly block programming  
 
  6.1-  the Description  of the Current Application

 
   6.2- the Code  of the Current Application (Line Following), Using the Mixly Software Current Mixly application - (2.96 KB zip file)   download
 
    6.2.1- Picture, the Mixly Blocks(block programming) of the Current Application

 
    6.2.2- Picture,  the Mixly Code of the Current Application, Equivalent to C++

 
    6.2.3- the Code  of the Current Application
volatile int IN1;
volatile int IN2;
volatile int IN3;
volatile int IN4;
volatile int distance;

void backword(int speed) {
left_side_backward(speed);
right_side_backward(speed);
}

float checkdistance_A1_A2() {
digitalWrite(A1, LOW);
delayMicroseconds(2);
digitalWrite(A1, HIGH);
delayMicroseconds(10);
digitalWrite(A1, LOW);
float distance = pulseIn(A2, HIGH) / 58.00;
delay(10);
return distance;
}

void forward(int speed) {
left_side_forward(speed);
right_side_forward(speed);
}

void left_side_backward(int speed) {
// Left
analogWrite(IN1,0);
analogWrite(IN2,(speed * 0.90));
}

void left_side_forward(int speed) {
// Left
analogWrite(IN1,(speed * 0.90));
analogWrite(IN2,0);
}


void right_side_backward(int speed) {
// Right
analogWrite(IN3,0);
analogWrite(IN4,speed);
}

void right_side_forward(int speed) {
// Right
analogWrite(IN3,speed);
analogWrite(IN4,0);
}


void stop() {
left_side_forward(0);
right_side_forward(0);
}

void setup(){
IN1 = 11;
IN2 = 6;
IN3 = 5;
IN4 = 3;
distance = 0;
pinMode(A1, OUTPUT);
pinMode(A2, INPUT);
}

 

void loop(){
distance = checkdistance_A1_A2();
if (distance >= 15 && distance <= 20) {
stop();
} else if (distance > 20) {
 forward(120);

} else if (distance < 15 ) {
backword(120);

}

}
 
    6.2.4- Test the Current Application
     1- Connect the Arduino UNO board of the 4WD robot car to computer’s USB port with USB cable to upload the code
     2- if the Code upload success, Turn the Power Slide switch ON
 
 
 
The Chapters :     -   1  2   3   4   5   6 
 
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