Autonomous Arduino Robot Description
This video is about a simple Arduino-based autonomous robot that can find its path automatically once the destination is selected. So, how the autonomous robot works!
It can find its path automatically and creates a map it is traveling through. It utilizes sound sensors to detect objects, the distance of the object, and calculate clearance to move. It uses a desktop app interface to receive commands and send position feedback. Bluetooth communication protocol has been used for data exchange purposes.

Robot Features
• Obstacle avoidance
• Distance calculation of the obstacles
• Measuring the distance it is traveling
• Wireless communication to a base station ( In this case PC)
• Solving the map to find its destination

Required Components
• Arduino Mega – 1x
• DC Gear Motor – 2x
• Ultrasonic Sound Sensor – 3x
• IR Obstacle Sensor – 1x
• Bluetooth Module – 1x
• Wheels – 2x
• Ball Cluster ( Third Wheel) – 1x
• Battery, Switches and Connecting Wires
• Plastic Wood for the Chassis

Working Principle of the Arduino Robot:
The basic function of this robot is to find the path to its destination while there will be obstacles in the way. It has to avoid that obstacle and keep going to its destination. The size of the area it was tested on was 160cm x 160cm. The testing ground was mapped into a 4x4 2D array. Where each square of the array was defined as 40cm. The robot has 3 ultrasonic sensors that help the robot find walls and avoid obstacles.

The wheel of the robot is black and a white mark has been placed into the wheel intentionally. So, with each revolution of the wheel, the IR is sensing signal ‘0 to the Arduino. Each revolution means crossing distance equal to the perimeter of the wheel. The perimeter of the wheel was calculated before and it was 21.36 centimeters. The distance feedback is required because it helps the Arduino to find out on which square of the array it is.

When the robot crosses more than 40cm, the row or column values of the array are incremented by 1. This means the robot is at the 2nd square of the 2d array. Here the problem is how the robot is going to know when it is crossing the squares in the direction of row or in the direction of the column.

The first direction of the robot is the y-axis which is the row of the 2d array. Let’s say, now the robot is turning right which means it’s the x-axis now it is currently in. What if the robot turns right twice. Counter_1 and counter_1 are to solve that problem. When the robot turns in a particular direction twice it comes back into the axis previously it was. That solves selecting row and column of the array.
There is a desktop interface that is used to define the setpoints for the robot. In a real-world application, let’s say a person from point ‘B’ is calling the robot. The robot defines its position as set point ‘A’ and the position it is getting called as set point ‘B’. Here the desktop app is used to send the location info.

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