Autonomous Obstacle Avoiding Rover

Project Overview

The ultimate capstone project. This rover uses an ultrasonic sensor mounted on a micro-servo. When it detects an obstacle, it stops, looks left and right, decides which path is clearer, and maneuvers appropriately.

Components Required

• 1x Arduino Uno
• 1x Motor Driver Shield (L293D) or L298N
• 1x SG90 Micro Servo
• 1x HC-SR04 Ultrasonic Sensor
• Rover chassis with 2 DC Motors

Wiring Guide

Mount the ultrasonic sensor to the top horn of the servo. Connect the servo signal pin to Arduino Pin 9 or 10. Wire the ultrasonic sensor TRIG and ECHO pins. Run motors from the motor shield outputs.

Source Code Concept

#include <Servo.h>
Servo headServo;

void setup() {
  headServo.attach(10);
  headServo.write(90); // Look straight ahead
  // Initialize motors and sensors
}

void loop() {
  int distance = getDistance();
  
  if (distance < 20) {
    stopMotors();
    headServo.write(0); // Look Right
    delay(500);
    int distRight = getDistance();
    
    headServo.write(180); // Look Left
    delay(500);
    int distLeft = getDistance();
    
    headServo.write(90); // Center head
    
    if (distLeft >= distRight) {
      turnLeft();
    } else {
      turnRight();
    }
  } else {
    driveForward();
  }
}