KOTHIWAL INSTITUTE OF TECHNOLOGY AND
PROFESSIONAL STUDIES, MORADABAD
Project On: Obstacle Detection System for Vehicle with Annunciation
Submitted by:
Mohd Arshil Javed (1752131003)
Pankaj Chaudhary (1752131004)
Ankit Kumar (1852139101)
Reshav Kumar (1852139105)
Guided by:
Mr. Praful Gupta
Dept. of Electronics and
communication
Academic year
2017-2021
Obstacle Avoidance Robotic
Vehicle
Abstract
Introduction
 The main scope of project is to automatically changing the
direction of robotic vehicle as required whenever any obstacle
comes on its way.
 Here an ultrasonic sensor is used which detects the presence of any
obstacle and sends the signal to microcontroller which changes the
direction of the robot.
 This particular robotic device is a combination of both mechanical
and electronics engineering.
 This system is made so that it can be used to detect and avoid
obstacles successfully.
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Block diagram
 This robot will be just like an electronic car that keeps on moving
in straight line until something comes in its path that’s when it
decides to turns into some other direction so it successfully avoids
the obstacle.
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Working of circuit diagram
 The project proposes robotic vehicle that has an intelligence built
in it such that it guides itself whenever an obstacle comes ahead of
it.
 This robotic vehicle is built, using a microcontroller of 8051 family.
An ultrasonic sensor is used to detect any obstacle ahead of it and
sends a command to the microcontroller.
 Depending on the input signal received, the microcontroller
redirects the robot to move in an alternate direction by actuating
the motors interfaced to it through a motor driver IC.
 POWER SUPPLY
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Power supply
Hardware
requirements
 MICROCONTROLLER 8052
 ULTRASONIC SENSOR
 MOTOR DRIVER IC
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230 V AC
50 Hz
Bridge rectifier
5v Regulator
5V DC
Filter(470µf)
12V step down
transformer
 8K Bytes of In-System Programmable (ISP) Flash
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Block controller
diagram of MC
Micro
Memory.
 4.0V to 5.5V Operating Range.
Crystal Frequency 11.0592MHZ.
AT89S52
 Three-level Program Memory Lock.
 256 x 8-bit Internal RAM.
 32 Programmable I/O Lines.
 Three 16-bit Timer/Counters.
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External interrupts
Interrupt
Control
On-chip
ROM for
program
code
Timer/Count
er
On-chip
RAM
Timer 1
Timer 0
Counter
Inputs
CPU
OSC
Bus
Control
4 I/O
Ports
P0 P1 P2 P3
Serial
Port
TxD RxD
Address/Data
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MC components explanation
ROM:
 A code of 4K memory is incorporated as on-chip ROM in 8051.
RAM:
 The 8051 microcontroller is composed of 128 bytes of internal
RAM. Interrupt Control:
 An event which is used to suspend or halt the normal program
execution for a temporary period of time in order to serve the
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MC components explanation
request of another program or hardware device is called an
interrupt.
Parallel Input/Output Ports:
PORT P0: When there is no external memory present, this port acts as a
general purpose input/output port.
PORT P1: This port is used for various interfacing activities.
PORT P2: This port can be used as a general purpose port when there
is no external memory but when external memory is present it works
in conjunction with PORT PO as an address bus.
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MC components explanation
PORT P3: PORT P3 behaves as a dedicated I/O port.
Address Bus:
 A bus is group of wires using which data transfer takes place from
one location to another within a system.
Timers and Counters:
 Synchronization among internal operations can be achieved with
the help of clock circuits which are responsible for generating clock
pulses.
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 Internal operations can be synchronized using clock circuits which
produce clock pulses.
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Pin diagram of 8052
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8052 pin diagram explanation
Port 0(p0.0 to p0.7):
 It is 8-bit bi-directional I/O port. It is bit/ byte addressable. During
external memory access, it functions as multiplexed data and
loworder address bus AD0-AD7.
Port 1 (p1.0 to p1.7):
 It is 8-bit bi-directional I/O port. When logic '1' is written into port
latch then it works as input mode. It functions as simply I/O port
and it does not have any alternative function.
Port 2 (p2.0 to p2.7):
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8052 pin diagram explanation
 It is 8-bit bi-directional I/O port. It is bit/ byte addressable.
Port 3(p3.0 to port 3.7):
 It is 8-bit I/O port. In an alternating function each pins can be used
as a special function I/O pin.
RESET:
 It is active high I/P signal. It should be maintained high for at least
two machine cycle while oscillator is running then 8051
microcontroller resets.
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Ultrasonic sensor
 Ultrasonic sensors (also known as
transceivers) work on a principle
similar to radar or sonar which
evaluate attributes of a target by
interpreting the echoes from radio or
sound waves respectively.
 Ultrasonic sensors generate high
frequency sound waves and evaluate the echo which is received
back by the sensor.
 Ultrasonic generators use piezoelectric materials such as zinc or
lead zirconium tartrates or quartz crystal.
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Ultrasonic features
receiver
 The material thickness decides the resonant frequency when
mounted and excited by electrodes attached on either side of it.
 The medical scanners used for abdomen or heart ultrasound are
designed at 2.5 MHz In this circuit, a 40 kHz transducer is used for
object detection in the air medium.
 Use for motion or distance sensing .
 Frequency: 40kHz ±1.0kHz.
 Aluminum case.
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Motor driver IC
 Capacitance: 2000Pf ±20%.
 Transmitter: bandwidth 5.0kHz/100Db, sound pressure level.
112Db/40 ±1.0kHz
 L293D is a dual H-bridge motor driver integrated circuit (IC).
 Motor drivers act as current amplifiers since they take a lowcurrent
control signal and provide a higher-current signal.
 This higher current signal is used to drive the motors.
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Motor driver ic diagram
 L293D contains two inbuilt H-bridge driver circuits. In its common
mode of operation, two DC motors can be driven simultaneously,
both in forward and reverse direction.
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Operation of motor driver
 L293D has 2 set of arrangements where one set has input 1, input
2, output 1 and output 2 and other set has input 3, input 4, output
3 and output 4, according to block diagram if pin no 2 & 7 are high
then pin no 3 & 6 are also high.
 If enable 1 and pin number 2 are high leaving pin number 7 as low
then the motor rotates in forward direction.
 If enable 2 and pin number 10 are high leaving pin number 15 as
low then the motor rotates in forward direction.
 If enable 1 and pin number 2 are low leaving pin number 7 as high
then the motor rotates in reverse direction.
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 If enable 2 and pin number 15 are high leaving pin number 10 as
low then the motor rotates in forward direction.
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Operational diagram
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Software
requirements
Applications
 Keil an ARM Company makes C compilers, macro assemblers, realtime kernels, debuggers, simulators, integrated environments,
evaluation boards, and emulators for ARM7/ARM9/Cortex-M3,
XC16x/C16x/ST10, 251, and 8051 MCU families.
 Compilers are programs used to convert a High Level Language to
object code. Desktop compilers produce an output object code for
the underlying microprocessor, but not for other microprocessors.
 Obstacle Detection for a Mining Vehicle.
 Driverless vehicles running along beams.
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Future scope
 Obstacle detecting system for a motor vehicle.
 Autonomous cleaning robot.
 The future work includes the enhancement of the robot design so
that it can compute area of a room and plot it on the computer.
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Conclusion
 It gives on an opportunity to test his mechanical and electronics
and programming skills .
 Obstacle Avoidance Robotic Vehicle project also provides robot
construction experience to beginners.
 This technology has application everywhere from industry to home
appliances all that is required is to implement it correctly to get the
best out of it.
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