How To Make DIY Autonomous Obstacle Avoiding Robot Car using Arduino Nano & Ultrasonic Sensor by WTC Zone

How To Make DIY Autonomous Obstacle Avoiding Robot Car using Arduino Nano & Ultrasonic Sensor by WTC Zone

Here’s a comprehensive guide for your Obstacle Avoider Car project using an ultrasonic sensor, servo motor, L298N motor driver, Arduino Nano, and other components.

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Project Overview

The Obstacle Avoider Car moves forward by default and uses the ultrasonic sensor mounted on a servo motor to scan for obstacles. If it detects an obstacle, the car evaluates the surroundings (left and right) and moves in the direction with more space.

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Parts Required

1. Arduino Nano x 1
2. HC-SR04 Ultrasonic Sensor x 1
3. Servo Motor x 1 (for ultrasonic sensor scanning)
4. L298N Motor Driver Module x 1
5. DC Motors x 2 (connected to wheels)
6. Robot Chassis x 1 (with wheels and space for components)
7. Battery Pack (7.4V Li-ion or 9V)
8. Connecting Wires
9. Male-to-Male and Male-to-Female Jumper Wires
10. Breadboard (optional, for prototyping)

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Circuit Connections

1. Ultrasonic Sensor (HC-SR04)

• VCC → Arduino Nano 5V
• GND → Arduino Nano GND
• Trigger (Trig) → Arduino Nano D9
• Echo → Arduino Nano D8

2. Servo Motor

• Signal → Arduino Nano D10
• VCC → Arduino Nano 5V (or external 5V supply)
• GND → Arduino Nano GND

3. L298N Motor Driver

• IN1 → Arduino Nano D2
• IN2 → Arduino Nano D3
• IN3 → Arduino Nano D4
• IN4 → Arduino Nano D5
• ENA → Connect to 5V (via jumper or PWM pin for speed control)
• ENB → Connect to 5V (via jumper or PWM pin for speed control)
• Motor A (Left Motor) → L298N OUT1, OUT2
• Motor B (Right Motor) → L298N OUT3, OUT4
• Power Input → Battery Pack VCC and GND

4. Power Supply

• Connect the battery pack to the L298N module's power input and ensure common GND between the Arduino and L298N.

Circuit Diagram

Video Link: - Click Here For Video

How To Make DIY Autonomous Obstacle Avoiding Robot Car using Arduino Nano & Ultrasonic Sensor by WTC Zone simple Circuit: -

How To Make DIY Autonomous Obstacle Avoiding Robot Car using Arduino Nano & Ultrasonic Sensor by WTC Zone Arduino Programming: -

Arduino IDE Program

Code for DIY Autonomous Obstacle Avoiding Robot Car using Arduino Nano & Ultrasonic Sensor by WTC Zone

#include <Servo.h>

// Ultrasonic sensor pins

const int trigPin = 9;

const int echoPin = 8;

// Motor driver pins

const int motorLeftForward = 2;

const int motorLeftBackward = 3;

const int motorRightForward = 4;

const int motorRightBackward = 5;

// Servo motor pin

Servo servo;

const int servoPin = 10;

// Variables

long duration;

int distance;

int leftDistance, rightDistance;

// Function to measure distance

int measureDistance() {

  digitalWrite(trigPin, LOW);

  delayMicroseconds(2);

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(10);

  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  return duration * 0.034 / 2; // Convert to cm

}

// Motor control functions

void moveForward() {

  digitalWrite(motorLeftForward, HIGH);

  digitalWrite(motorLeftBackward, LOW);

  digitalWrite(motorRightForward, HIGH);

  digitalWrite(motorRightBackward, LOW);

}

void moveBackward() {

  digitalWrite(motorLeftForward, LOW);

  digitalWrite(motorLeftBackward, HIGH);

  digitalWrite(motorRightForward, LOW);

  digitalWrite(motorRightBackward, HIGH);

}

void turnLeft() {

  digitalWrite(motorLeftForward, LOW);

  digitalWrite(motorLeftBackward, HIGH);

  digitalWrite(motorRightForward, HIGH);

  digitalWrite(motorRightBackward, LOW);

}

void turnRight() {

  digitalWrite(motorLeftForward, HIGH);

  digitalWrite(motorLeftBackward, LOW);

  digitalWrite(motorRightForward, LOW);

  digitalWrite(motorRightBackward, HIGH);

}

void stopMotors() {

  digitalWrite(motorLeftForward, LOW);

  digitalWrite(motorLeftBackward, LOW);

  digitalWrite(motorRightForward, LOW);

  digitalWrite(motorRightBackward, LOW);

}

void setup() {

  // Motor pins

  pinMode(motorLeftForward, OUTPUT);

  pinMode(motorLeftBackward, OUTPUT);

  pinMode(motorRightForward, OUTPUT);

  pinMode(motorRightBackward, OUTPUT);

  // Ultrasonic sensor pins

  pinMode(trigPin, OUTPUT);

  pinMode(echoPin, INPUT);

  // Attach servo

  servo.attach(servoPin);

  servo.write(90); // Center position

  Serial.begin(9600);

}

void loop() {

  // Measure front distance

  servo.write(90); // Center

  delay(500);

  distance = measureDistance();

  Serial.print("Front Distance: ");

  Serial.println(distance);

  if (distance < 20) {

    // Stop and scan left/right

    stopMotors();

    delay(500);

    servo.write(0); // Look left

    delay(500);

    leftDistance = measureDistance();

    Serial.print("Left Distance: ");

    Serial.println(leftDistance);

    servo.write(180); // Look right

    delay(500);

    rightDistance = measureDistance();

    Serial.print("Right Distance: ");

    Serial.println(rightDistance);

    // Decide direction

    if (leftDistance > rightDistance) {

      turnLeft();

      delay(500);

    } else {

      turnRight();

      delay(500);

    }

  } else {

    moveForward();

  }

  delay(100);

}

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How It Works

1. Ultrasonic Sensor:

   • The HC-SR04 measures the distance to obstacles.
   • If an obstacle is closer than 20 cm, the car stops and scans left and right.

2. Servo Motor:

   • Rotates the ultrasonic sensor to scan the environment.
   • Checks distances to the left and right to decide the optimal direction.

3. Motor Driver:

   • Controls the two DC motors to move the car forward, backward, or turn left/right based on decisions made by the Arduino.

4. Obstacle Avoidance:

   • The car moves forward by default.
   • On detecting an obstacle, it evaluates the surroundings and turns in the direction with more space.

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Circuit Diagram

You can use tools like Tinkercad or Fritzing to create the circuit diagram, ensuring connections match the details above.

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Project Features

• Fully autonomous robot.
• Simple and fun to build for all age groups.
• Can handle obstacles dynamically, making it engaging to watch.

This project is interactive and demonstrates the basics of robotics and obstacle avoidance.

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