How to make a simple Obstacle avoiding robot without a servo motor

Hello and welcome back. In this project, we will learn how to make a simple Obstacle-avoiding robot without a servo motor. For that, I mainly used the Arduino UNO board, Ultrasonic sensor, and L293D motor driver shield. This means you can make it easily and at a low cost. I’ve used 5mm foam board to make the robot body, but feel free to use whatever material you prefer. I think this project is perfect for school assignments.

If you are a beginner in Arduino, Please visit our basic tutorial and projects. The ultrasonic sensor is the main actor in this project. It helps us measure distances to obstacles in front of the robot. Then, based on this distance, the robot stops and turns left and right. You can change the robot stop distance as you like. Afterward, the ultrasonic sensor again checks distances on either side and decides which way to turn. Once it’s clear, the robot moves forward. This cycle repeats continuously. You can adjust the distance at which the robot stops and other timing delays based on your needs.

If you want to visit more obstacle avoidance robot projects, please use the following links.

OK let’s do this project step by step. The required components are given below.

Arduino UNO board x 1 — Our Store / Amazon
Ultrasonic sensor x 1 — Our Store / Amazon
L293D motor driver x 1 — Our Store / Amazon

Gear motor x 2 — Our Store / Amazon
Robot wheel x 2 — Our Store / Amazon
Swivel Caster Wheel — Our Store / Amazon

Li-ion battery x 2 — Amazon
Battery holder x 1 — Our Store / Amazon
Jumper wires — Our Store / Amazon

Foam board — Amazon

Step 1

Firstly, identify these components.

Step 2

Secondly, cut the foam board pieces to the following sizes.

Step 3

Thirdly, prepare the side foam board piece to mount the ultrasonic sensor. For that find the center point and prepare the area using the sensor.

Step 4

Next, prepare the part of the robot base to mount the Swivel Caster Wheel. For that, draw a circle with a radius of 14mm using the back center point of the foam board. Then, cut out this circle and install the caster wheel.

Step 5

Now, install the robot front part on the base part. Then, cut out 10mm of the left and right foam board pieces.

Step 6

Next, prepare the robot wheel mounting holds. For that, use the gear motors and mark the holes on the left and right foam board pieces. Then cut out these holes.

Step 7

Afterward, install the left and right foam board pieces on the base part. Then, glue the gear motors.

Step 8

Now, connect the L293D motor driver shield to the Arduino UNO board. Then, cut an Arduino UNO board shape foam board piece and glue it to the Arduino UNO board.

Step 9

Next, make two holes for the USB programming port and 12v power port on the robot’s backside foam board piece. Then, install the Arduino board and back side foam board piece on the robot base part.

Step 10

Now, connect the robot wheels to the gear motors.

Step 11

Afterward, connect the gear motors to the motor driver shield. Also, connect the ultrasonic sensor to the motor driver shield. For that, use the circuit diagram below.

Step 12

Now, install the ultrasonic sensor on the front of this robot. Then, connect this robot to the computer for programming.

Next, copy and paste the following program to the Arduino IDE.
Then, install the AFmotor library file.

AFmotor library — Download
Code and circuit diagram — Download

/*Obstacle avoidance robot
   Home Page

*/
//Include the motor driver library
#include <AFMotor.h>
//Define the sensor pins
#define Trig A0
#define Echo A1

//Set the speed of the motors
#define Speed 160

//Create objects for the motors
AF_DCMotor motor1(3);
AF_DCMotor motor2(4);

void setup() {
  Serial.begin(9600);
  //Set the Trig pins as output pins
  pinMode(Trig, OUTPUT);
  //Set the Echo pins as input pins
  pinMode(Echo, INPUT);
  //Set the speed of the motors
  motor1.setSpeed(Speed);
  motor2.setSpeed(Speed);
}

void loop() {
  int value = distance();

  //   Check the distance using the IF condition
  if (15 >= value) {
    Stop();
    Serial.println("Stop");
    delay(1000);
    leftSide();
    int leftDis = distance();
    delay(1000);
    rightSide();
    delay(1000);
    int rightDis = distance();
    delay(1000);

    if (leftDis < rightDis) {
      right();
      delay(300);
    } else {
      left();
      delay(300);
    }

  } else {
    Serial.println("Forward");
    forward();
  }

}

//Get the sensor values
int distance() {
  //pulse output
  digitalWrite(Trig, LOW);
  delayMicroseconds(4);
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);

  long t = pulseIn(Echo, HIGH);//Get the pulse
  int cm = t / 29 / 2; //Convert time to the distance
  return cm; // Return the values from the sensor
}

//Turns left
void leftSide() {
  left();
  delay(300);
  Stop();
}

//Turns right
void rightSide() {
  right();
  delay(600);
  Stop();
  delay(300);
  left();
  delay(300);
  Stop();
}

/*******************Motor functions**********************/

void forward() {
  motor1.run(FORWARD);
  motor2.run(FORWARD);
}
void left() {
  motor1.run(BACKWARD);
  motor2.run(FORWARD);
}
void right() {
  motor1.run(FORWARD);
  motor2.run(BACKWARD);
}
void Stop() {
  motor1.run(RELEASE);
  motor2.run(RELEASE);
}

Now, select the board and port. Then, click the upload button.

Then, check the motor rotate direction. If the motors do not rotate in the correct direction, please change the motor connections.

Step 13

Next, install the top cover of this robot. Then, mount the battery holder on the robot’s top.

Step 14

Finally, put the batteries into the battery holder. Then, connect the power adapter to the Arduino UNO board. Now you can test this robot. The full video guide is below. So, we hope to see you in the next project. Have a good day.

troubleshooting

Check the Jumper wires.
Check the Power source.
Check the L293D motor driver shield power jumper.

Check the Gear motor directions.
Install the motor driver shield library file.

How to make a simple Obstacle avoiding robot without a servo motor