Synopsis Of Term Work Based on

Obstacle Avoidance in Robots

Submitted to
Dr. Pushpendra S. Bharti
Associate Professor
USICT , GGSIPU

Submitted By
RAHUL SARASWAT
Roll no: 01016418715
M.Tech (R&A) 2nd Sem
USICT

Guru Gobind Singh Indraprastha University

Dwarka Sec-16

INTRODUCTION
Robotics is a fast growing field having applications in almost every area in the present
world. From industries to homes, we can find its application everywhere. Mobile robots
having capabilities of moving from one point to another in the workspace have been
developed with sufficient intelligence. This intelligence is achieved as a result of years of
research and development in this field. There have been development of many technologies
developed for it including use of different types of sensors, laser scanners, different
algorithms. Obstacle avoidance is the backbone of the autonomous robots, robots which
have to reach their target or destination following a certain defined or undefined path
avoiding any collision with a foreign object. It is the fundamental requirement of any
mobile robot, which is necessary for path planning as well navigation of the robot.
The mobile robots can be categorized into two categories, one is legged robot and the
second is wheeled robots. The robots having obstacle or collision avoidance, mainly uses
infrared sensors to detect the obstacle in between the path and then avoid them to
completes its objective. The IR transmitter continuously generate an Infrared signal in
its proximity, when an obstacle comes in the path the infrared signal gets reflected back
from the object and is received by the IR sensor which then generate a positive high
signal with the help of the receiver circuit that is there is an obstacle in the path. In
such a way the robot is able to detect obstacles of provided space and able to avoid
obstacles coming in between the path of ROBOT. They must avoid all objects in their path.
Not only to avoid damage to themselves and other objects, but also for the safety of
humans.
The working of an obstacle avoidance system is can be explained as, when the robot is
switched ON, 1st it will check either start signal is received or not ,if not then the program
counter will not go to the next address it will remains on the same address until it get a
negative signal. Then the robot continuously check any obstacle in path, if there is no
obstacle then robot will go straight. If any obstacle will found in left side then the
controller send a command to the motor drive to stop the right motor & move the left
motor and just opposite as obstacle found in right side.
Obstacle or collision avoidance problems are generally an unavoidable problem of robot
navigation. It becomes more prominent for the paths or spaces which are partially or
completely unknown. Complications becomes more prominent when the obstacle is
moving. The robot will then not only have to realize the position of the obstacle but there
will also be need of sensing the velocity and direction of the moving object. So there is
requirement of such sensors or system which can monitor the workspace of robot and
should have fast response. Another problem associated with some robots are that they
come to a halt, whenever an obstacle comes in its proximity. So the robot should be
intelligent and fast enough to simultaneously detect the presence of obstacle and change its

direction.
The obstacle avoiding robots have multiple applications in various fields including
exploration, security and surveillance systems, monitoring applications, household robots
etc. This technology to can be used in vehicles to avoid the accidents generally happen in
congested or the Metro Politian Areas. This technology can also be used to help the blind
persons. The technology can be used to help them walk without their stick and without the
help from other persons. This technology is also used in UMVs which is substitute for the
future transportation system. This can also be used for mining vehicles and household
applications such as autonomous cleaning.

BLOCK DIAGRAM

The above figure shows the general block diagram of an obstacle avoiding robot. The S1
and S2 are the obstacles. The sensors detects the presence of the obstacle. In this work we
will be looking at the robots different sensors such as IR sensors, ultrasonic sensors,
LIDAR, ultrasonic sensors, laser, radar, Camera, sonar etc that are use depending upon the
application. Sensors sense the object then generate a signal high or low.
The signal is then processed by a microcontroller. This is the most important part of the
system. Microcontroller is the decision making logical device which has its own memory,
I/O ports, CPU and Clock circuit embedded on a single chip. Microcontroller is
programmed to avoid the obstacle, when it get a signal from sensor then by processing this
signal, drive the motor driver accordingly, according to the incoming signal of sensors
microcontroller decide either left or right motor should move. In such a way the Robot
works.
There are various microcontroller devices which can be used in the obstacle avoiding robot
like atmega8, atmega16, atmel89c20i, atmel avr, etc. In this work, we will be reviewing
robots using some of these devices.

ALGORITHM
In general, following steps are taken by the robot, which have been designed to implement
the AI logic programmed and to run smoothly on an obstacle avoided path:

The robot gathers facts about a situation with help of sensors.

The robot then compares this information to stored data.
The robot then decides the significance of the information.
The robot runs through different actions that are possible amongst the collected
information.
The robot predicts what action will be most suitable based on the collected
information.
The robot then execute the suitable action and moves accordingly.
There are many algorithms which are conventionally being used in the robots and there is
development of some ne algorithms like bug algorithms, dist bug algotihms etc. which are
being used in the robots. We will be reviewing a few of the algorithms which are currently
being used for the obstacle avoidance in robots.

OBJECTIVE
The objective of the work is to do an extensive study of the Obstacle avoidance robots
from all available sources related directly or indirectly. The work will cover the study of
different technologies and working, giving appropriate consideration to them, used in the
obstacle avoidance in robots. Various robots having different types of sensors, robots using
different microcontrollers will be reviewed. Some of the algorithms will also be covered in
the work. The objective of the work can be summarized as follows:
To do a study about the mechanical hardware design of the system and working of
the robots having obstacle avoidance capability.
To study driving methodology and basic design approach for the Obstacle avoidance
robot.
To study circuit design of the system.
Conventional as well new technologies which are being developed at present will be
reviewed in this work.
To get familiar with the different types of sensors and the circuit designs used in the
obstacle avoidance robots.
Selection of the sensor according to the use and work environment.

 Also the different microcontrollers which can be used in making Obstacle avoidance
system will be given consideration in the work. Selection of the platform according
to the usage and the application.
To identify its potential use for industrial and other purpose.
To study practical implications in design of obstacle avoidance robot.

REFERENCES
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[4] Call, R., Brandon, Obstacle Avoidance for Unmanned Aerial Vehicles, Thesis for Bringham Young
University, Idaho, United States, December 2006. .
[5] B. H. Krogh, A generalized potential field approach to obstacleavoidance control, in Proc. Int. Robot.
Res. Conf. , Bethlehem, PA,Aug. 1984.