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DOI: 10.13189/ujca.2018.060102
Copyright©2018 by authors, all rights reserved. Authors agree that this article remains permanently open access under
the terms of the Creative Commons Attribution License 4.0 International License
Abstract This paper presents the use of ARDUINO The most common external sensors are (ultrasonic, laser,
board to control an autonomous mobile robot (AMR) for infrared, etc.) to detect obstacles and measure the distance
navigation purpose. The wheeled robot is capable to between the obstacle and the robot. The AMR is equipped
perform two tasks. The first task is to move autonomously with a set of motorized actuators and some of sensors to
to the north direction. And the second task is to avoid help it to move and navigate. In order to control its motion,
collision with unexpected static and moveable obstacles. usually, there is an on-board computer to command the
The robot uses two sensors to navigate and avoid the motors to take place, based on reference inputs and the data
obstacle, a digital compass HMC5883L uses to detect the gathered by the sensors.
north direction and update the situation of the robot during When autonomous robots navigate within outdoor
its movement. And the ultrasonic sensor uses to avoid environments (open space), they have to be endowed the
nearest obstacles on the robot way. C language used to ability to move through the environments, to move without
program the system to do its mission and installed to the collision with obstacles, and follow the direction with the
ARDUINO board. The results obtained show that the robot help of (compass, GPS or camera). The basic concept of
was able to navigate and move to the north and avoid this project report is to design robot which can move to the
obstacles in the outdoor environment. north direction and avoid any obstacle on its way without
human guidance or control. Arduino Mega 2560 was used
Keywords Digital Compass Sensor HMC5883L, as the “brain” to control the system of the robot [1-3, 6].
Ultrasonic Sensor, Autonomous Robot, Avoidance, Figure 1 shows the prototype system.
Arduino, Navigation The robot composes the following sensors and
actuators:
One ultrasonic range finder mounted in front of
the mobile robot to detect obstacles and provide
1. Introduction information to the controller.
One servomotor attached to the ultrasonic to rotate
An autonomous mobile robot (AMR) is defined as a the ultrasonic from 0 degree to 180 degree.
wheeled vehicle that capable of moving in an environment Digital compass sensor type HMC5883L to
autonomously. Autonomous is the ability of moving and provide information about the direction of the
navigate without assistance from external operator, with robot to the controller.
the availability of internal or external sensors that get An infra-red to switch ON/OFF the robot
information of the environment. remotely.
14 Wheeled Mobile Robot Obstacle Avoidance Using Compass and Ultrasonic
Two DC motors attached with two wheels to drive t: is the time traveling from the sensor the object.
the robot. v: is the sound velocity on air.
Ultrasonic measurement has some limitations; in case of
3.2. Ultrasonic Sensor and Limitation
the surface is perpendicular to the ultrasonic sensor, the
An ultrasonic sensor HC – SR04 transmits ultrasonic ultrasonic waves are reflected and will be detected by
waves into the air and detects reflected waves from an receiver then the object can be selected as shown in
object as shown in Figure 3, ultrasonic provides 2cm – Figure3, while only a small percentage of the waves is
400cm non-contact measurement function. The distance scattered in other directions. However, if the surface is
between the robot and the obstacle is determined by tilted by an large angel as shown in Figure 4 , then the
𝑣𝑡 obstacle will not been detected [4,5,10].
𝑑= (1)
2 The surface structure of the obstacle effects on the
Where: amount of reflected waves. Furthermore, the size of the
d: is the distance measured. irregularities on the surface should be comparable to the
16 Wheeled Mobile Robot Obstacle Avoidance Using Compass and Ultrasonic
wavelength of the incident waves [5]. The total linear and angular speed of the robot can be
𝑣 340 calculated as equations (5) and (6). The robot in a state of
𝜆= = = 8.5 𝑚𝑚 (2)
𝑓 40 000 motion must always rotate about a point that lies
Where somewhere on the common axis of its two wheels. This
λ is the wavelength, point is often called the Instantaneous Centre of Curvature
v is sound velocity in air ( 340 m/s), (ICC). In order to derive the differential drive equations,
ƒ is ultrasonic sound frequency 40KHz the model shown in Figure 5 is used.
In this section, we present experiments results and To get accurate distance measurement, we send a very
algorithm illustration of the presented techniques .When short HIGH signal of 10 microseconds (µS) to the Trigg
the system starts, servo motor rotates the ultrasonic sensor pin. After 3 seconds, the sensor should return a HIGH
with five corners as shown in Figure 8, and at every angle signal again to measure another value. We found that, this
the robot calculate the distance of nearest obstacle, and procedure was done to avoid an unstable measuring duo to
then compares the distances to know where the obstacles multi reflected waves from the surrounding, and we get a
are, after that the robot getting its direction by using perfect stable value which is 15cm.
compass sensor and looking for the desired path by
calculating the angle of steering, Figure 7 shows the
flowchart of the process.
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Item Description
Robot Size 11.5cm (L) × 10.5cm (W) × 8.5cm (H) [8] S.A.S.Yapa, and etc., “Autonomous Obstacle Avoiding
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