AMERICAN INTERNATIONAL UNIVERSITY-BANGLADESH

(AIUB)
Faculty of Engineering
Department of Electrical and Electronic Engineering

EXPERIMENT NO: 6 FINAL TERM

SEC :[I]

MICROPROCESSPR AND EMBEDDED SYSTEM- LAB

Topic : Building an Obstacle Detection System

Submitted to:
NIRJHOR TAHMIDUR ROUF Semester: SPRING 2019-20

Date of Submission: 31-3-2020

SUBMITTED BY: GROUP NO: 01

Serial no Student’s Name ID Signature
01 Tanmoy Dutta 16-32124-2 Tanmoy

© Dept. of EEE & COE, FE, AMERICAN INTERNATIONAL UNIVERSITY-BANGLADESH (AIUB)

Introduction : obstacle avoidance is the task of satisfying some control objective subject
to non-intersection or non-collision position constraints. The system is a maximally
passive obstacle detection system that makes selective use of an active sensor. Choosing a
microcontroller is how easy it is to develop products around it. Key considerations include
the availability of an assembler, a debugger, a code-efficient C language compiler, an
emulator, technical support, and both in-house and outside expertise. We have chosen
Arduino series because a lot of community support is available online. Many free and
efficient code samples from different projects are present for Arduino.

2
 Figure 1: Flow Chart

© Dept. of EEE & COE, FE, AMERICAN INTERNATIONAL UNIVERSITY-BANGLADESH (AIUB)

Code Listing :

const int echoPin = 6; // Echo Pin of Ultrasonic Sensor

const int trigPin = 7; // Trigger Pin of Ultrasonic Sensor
const int LED = 4; // LED at Pin 4
void setup() {
Serial.begin(9600); // Starting Serial
Communication
pinMode(trigPin, OUTPUT); //
initialising pin 7 as output
pinMode(echoPin, INPUT); //
initialising pin 6 as input
pinMode(LED, OUTPUT); //
initialising pin 4 as output
}
void loop()

{
long duration, inches, cm;
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH); // using pulsin function to determine total time
inches = microsecondsToInches(duration);
// calling method
cm = microsecondsToCentimeters(duration);
// calling method
if(cm <10)
{
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();
digitalWrite(LED, HIGH);
}
Else

4
 {
digitalWrite(LED, LOW);
}
delay(100);
}
long microsecondsToInches(long microseconds) // method to covert microsec to inches
{
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds) // method to covert microsec to cm
{
return microseconds / 29 / 2;
}

Conclusion: Using HCSRO4 sonar sensor an obstacle detection system have been
build. Since it is an ultrasonic module a transmitter, receiver and control circuit was there.
At first test Arduino was burned so that the experiment was paused. With the new Arduino
the evaluation had been complete along with the obstacle ability of system.

© Dept. of EEE & COE, FE, AMERICAN INTERNATIONAL UNIVERSITY-BANGLADESH (AIUB)