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Arduino + object avoidance robot.

dtsartsanis

Hi everybody.

 

Few days now i started building a small robot (my first one) using an arduino as a controller.

This post is a small presentation of this project

 

The kit of the robot is from Actobitty and it is a simple 2 motor with an aluminum chassis.

The front "wheel" was a simple plastic one and i noticed that it was difficult to overcame small objects and also difficult in turning. So i took pieces from an old Lego Technic and i made a front fork.

 

this was the front wheel and these are the holders of the battery below the chassis. I also removed them and manage to transfer the battery up.

image

 

this is the Lego fork

image

 

 

this is how the robot looked when i assembled it.

image

 

and this is how it looks now.

image

 

The original kit includes two holders for your Arduino or Raspberry. I manage to put the breadboard with the holders.

Also the battery pack moved in front of the micro controllers.Now there is a small space at the end of the breadboard for connecting leds etc.

 

Now the robot uses the following parts:

1.Actobitty 2 wheels robot aluminum chassis

2.2x Micro Gearmotor - 90 RPM

3.Arduino Uno

4.Arduino Motor shield rev.3

5.Ultrasonic sensor HC-SR04 with bracket

6.Breadboard for prototyping and additional sensors.

7.Additional 9V battery.

8.Cell AA Battery Pack with 4 rechargeable batteries

 

This is a the how u can attach the second battery.

image

 

At the present the robot can avoid objects and i found a very good tutorial here James Robot Tutorial - Duino-Robotics .

The code from the tutorial is for a robot with a servo ultrasonic sensor and servo motors. I use an Arduino motor shield so i had to make modifications.

 

In the next days ill try to load a video with the robot in action.

 

*the attachment code is working for me but still needs improvement

Attachments:
sample_code_for_robot.ino.zip
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  • Today i tested various different times of scaning with the ultrasonic sensor.

    The main set up is :

    1. maxdistance 100 (10cm) this is the scanning distance

    2.delay of the scan with the sensor 300 in milliseconds

    3.frontdistance >20 which means if the scan gives 20 and above go forward

     

    Also managed to find how to turn right and left with the code if the distance of the object is below 5 turn right or below 5 turn left.

    I dont know why but when the sensor points the door which is wooden and shiny the robot have some problems. if the robot is in an angle with the door usually it hits the door.

     

    If i could lower the sensor the movement would be better but for now i am very happy with the whole progress.

    The blue led is blinking when the robot go backward and a good idea is to add a piezo buzzer to make a sound also when it goes backward like the trucks.

    Attachments:
    2678.sample_code_for_robot.ino.zip
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  • Today i tested various different times of scaning with the ultrasonic sensor.

    The main set up is :

    1. maxdistance 100 (10cm) this is the scanning distance

    2.delay of the scan with the sensor 300 in milliseconds

    3.frontdistance >20 which means if the scan gives 20 and above go forward

     

    Also managed to find how to turn right and left with the code if the distance of the object is below 5 turn right or below 5 turn left.

    I dont know why but when the sensor points the door which is wooden and shiny the robot have some problems. if the robot is in an angle with the door usually it hits the door.

     

    If i could lower the sensor the movement would be better but for now i am very happy with the whole progress.

    The blue led is blinking when the robot go backward and a good idea is to add a piezo buzzer to make a sound also when it goes backward like the trucks.

    Attachments:
    2678.sample_code_for_robot.ino.zip
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