Volume 7, Issue 4, April – 2022 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Object Detection and Avoidance in Unmanned

Ground Vehicle using Arduino1
Rakesh BN, Praveen MT, Ranjith kumar C, Tejaswini L S,
Department of Electronics and Communication Engineering
REVA University Yelahanka, Bangalore

Abstract:- The autonomous driving is the recent era in area, also can record the video on its memory, and find its
automobiles industry. The systems will be designed and way to the base.
aimed to reduce the manual control from humans also to
efficiently manage to operate accordingly to the information The paper is formulated as follows: Section Two
obtained from the sensors. Whereas Unmanned Ground identifies the system objectives of our work; Section Three
Vehicles (UGV) are used for a particular application to provides the related work that we have researched for our
perform completely with zero or no direct interaction with requirements and for the architecture design; Section Four
that particular vehicle which can be used in military provides the working module, Hardware components, and
borders, hazardous areas, and industries with repetitive software design and prototype; Section Five concludes the
tasks to increase accuracy, consistency, and speed as proposed work of paper and projects future
machines are non-volatile. The only challenge to be recommendations. This work is based on UGV projects
precisely taken care of among UGVs must be the sensitivity developed at REVA University. This project includes the
towards detecting the objects on the way and acting following electronic design, mechanical design, and
accordingly to avoid a collision. In this proposed model we software logic control over the motors. The processing unit
use ultrasonic sensors and IR sensors has set a plan to develop intelligent UGVs through four
phases. The final goal is to further dump and develop deep
Keywords:- UGV, Arduino IDE, Object detection, and object learning algorithms for exploration, path projecting, and
avoidance. target tracking using multiple UGVs. This paper presents
the electronic components details, setup, and software
I. INTRODUCTION control for the first two phases which will be used as the
basis for further development. The main contributory work
The design, development, and implementation of mobile of this paper is to share the experience gained in
robots has been a huge impact on the industrial sector these developing a simple UGV prototype that can be used for
days. The development of fast processing controllers using open-source learning and research.
open-source coding has increased the interest of even non-
engineering students and teenage kids as well also been II. OBJECTIVES
bought hyper attraction to this field. To further carry on this
field in depth will be working on faster processing  The main aim of the proposed work is to be applied and
communication protocols and intelligent algorithms will result should be used for Military purposes like city wars and
in an increase in research activities in this area. mobile surveillance systems.
 Model is aimed to be portable to carry, easy to control,
Unmanned Ground Vehicles (UGVs) can be used in maintain and repair.
different areas such as exploration of the field, delivery or  System is to be flexible to perform in a long range of
transportation, gaming competitions, surveillance, huge temperatures, should consume very less power, and look
agricultural fields, and military[1]. Low-cost autonomous very simple in construction.
UGVs are available and also being developed along with
providing enhanced technological applications for mechatronic III. LITERARY SURVEY
systems. Further new Algorithms can be implemented such as
deep learning and multi-rate control strategies for research work In Khan et al. (2017), the authors have operated
in mobile robotics [2]. UGVs under a complex scenario [4] that required object
detection more often and highlighted the importance of
In this proposed model we use an ultrasonic sensor and IR autonomous navigation. Hence they have referred to papers
sensor for long-range and cost-efficiency. The developed and articles from the 2nd conference for engineering,
mobile robot system is been interfaced with the user via the science, and technology on 29 October 2019 “Design and
internet as the controller signals obtained from the user were Implementation of the unmanned ground vehicle using
uploaded and can be accessed online through the cloud. The Arduino”.
system also contains an autonomous drive-through option
where the robot uses an embedded algorithm to explore the

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Volume 7, Issue 4, April – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Domenico Guida et al. This conference paper mainly
describes the specialties of ultrasound technologies [5]
(Ultrasonic sensor HCSR04), system design, motor driving
module(L298D), and its wide usage, and mainly how to control
the DC motor for the UGVs remotely with the prototype.

Zabbar et. al. in 2017 author mainly focused on wide

applications of ultrasonic sensors [6], implementation of the
ultrasonic sensor based on the requirement in the project and
would show the output values on different parameters of the
physical environment.

Srijan et. al. in [2] this paper describes features of Arduino

UNO Microcontroller, and Ultrasonic Sensor and they
developed a simple code to run the obstacle avoiding UGV.
Sulaimon et. al. provided an implementation idea of obstacle-
avoiding UGV [7] based on Arduino UNO through some of the
flowcharts and a detailed description of main components like
Arduino UNO, Ultrasonic sensor, etc.

RELATED WORK

Fig. 2: Flowchart of the working model of obstacle

avoiding UGV

IV. METHODOLOGY

This prototype consists of Arduino UNO, 5V DC

Geared DC motors, HC-SR04 Ultrasonic sensors, an
LM298D Motor driver shield, and a Power supply. In this
prototype, Arduino UNO Microcontroller is preferred
because of its property of low power consumption and is
also relatively cheaper than other modules available on the
market. Two sets of 9V power supplies were used to power
up the prototype. Two pairs of 5V DC Geared DC motors
are used to control 10 the prototype. In this prototype, the
motor drive shield is being interfaced with the Arduino
which in turn controls the DC motors. Initially, when the
prototype is turned ON, the prototype starts moving
forward, and also the ultrasonic sensor starts producing the
ultrasonic beam. This beam travels at the speed of 37KHz
through the air as a medium and then waits to receive a
corresponding reflecting signal which is detected using an
Ultrasonic receiver module. Based on the time taken by the
beam to travel, it is converted into distance based on certain
Fig. 1 Block Diagram of UGV layout formulae mentioned below.

As we all know, nowadays self-driving become so

popular. But they are only aiming at cars, bikes, etc. In future
wars that may occur based on the present situation, we are
proposing an unmanned ground vehicle that works
automatically. By this, we can reduce the destruction of the life
of humans. So, to overcome this and to reduce the number of
calamities, our team has come up with this prototype which is
"Unmanned Ground Vehicle and Obstacle Detection using
Arduino".

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Volume 7, Issue 4, April – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
V. RESULT & CONCLUSION

Fig. 3: Design and development of the proposed model

This paper consists of a detailed description of the REFERENCES

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