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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

  • Great presentation DIMITRIOS... I will be tuned for updates

     

    I would wish to have enough time to make a little robot like this one.

  • Hi Dimitrios - a very nice piece of work! Well done. The code looks very useful for my own Cybot project. image

     

    Are you going to include a way of sending commands to your robot? I am working on using Bluetooth for mine and hope to post something soon.

     

    Best wishes

     

    Neil

  • This is a small demo with the robot in action.

    2 thoughts. i have to fix the scan time because it has some problems. when it crashes to the wardrobe, now the scan time is 200 milliseconds maybe below that will fix the problem.The second thought is to lower the ultrasonic sensor but will be difficult with this kit. For now i think it is working fine.

    More to come : add some leds for direction indication. Also i have to fix somehow the turn direction. Now when it finds an object turns left i have to find a solution to turn either right or left. Also i want to add an LDR sensor for light tracking.

    As u can see i added the 9V battery because it draws a lot power. if u try this only with the 9V or the pack of 4 AA batteries you will see that it moves slower and not correct.

    Thats all for now hope u like it.image

     

  • in reply to neilk

    Neil sorry for my late answer. For the moment i dont have thoughts for wifi or bluetooth but if u achieve that to your robot i am very interested to it.image

  • A small modification to the 9V battery. It stays at the back of the chassis with tie zips. The good about the Actobity chassis is that it has a lot of holes and you can attach either sensors or whatever u can .

     

    image

     

    image

     

    image

  • DIMITRIOS TSARTSANIS , It was great... good video.

    I like how it is going. I stay waiting for the updates you are thinking to do.

  • in reply to dtsartsanis

    Hi Dimitrios - your project is looking really good image

     

    My Bluetooth is coming along nicely

     

    Neil

  • 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

  • It looks gorgeous.

     

    And I am only chatting: Could it be that the door's material has a high absortion for the ultrasonic signal?

  • in reply to lokkytron

    Yes Lokky i thing it is the material, because when i put my finger in front or it hits a fabric, like my trousers there is no problem.

    My little niece love it and we played a couple of minutes today. I thing this kind of projects are very good for introduction to robotics and micro controllers.image