IRJET- Obstacle Detection using Ultrasonic Sensor in MAV (Micro Air Vehicle)
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This document describes research on using an ultrasonic sensor for obstacle detection on a micro air vehicle (MAV). The ultrasonic sensor is connected to an Arduino Uno board to measure distances up to 4 meters. An algorithm is developed to detect obstacles and control the MAV servos to avoid collisions. The ultrasonic sensor and Arduino board connection is tested, with distances accurately detected through the serial monitor up to 3.15 meters. The ultrasonic sensor provides effective obstacle detection for indoor and outdoor MAV applications.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 1964
Obstacle Detection using Ultrasonic sensor in MAV (Micro Air Vehicle)
Sharmila A 1, ,Ramesh P1, Siva Subba Rao Patange 2 ,Dr.S.Raja2, Dr.Aby.K.Thomas1
1Hindustan Institute of Technology and Science, Chennai-603 103.
2CSIR-National Aerospace Laboratories, Bengaluru-560017, India.
---------------------------------------------------------------------***---------------------------------------------------------------------
Abstract: This paper demonstrates the obstacle detection
using ultrasonic sensor in Micro Air Vehicle (MAV). Thesensor
measures the distance range up to 400 cm or 4mtheoretically.
In the presence of many obstacles in front of ultrasonic sensor,
nearer obstacle was detected initially. However,theultrasonic
sensor can be used for detecting the obstacle based on colour
and size and hence collision can be avoided. An algorithm has
to develop for avoiding collisions. This algorithm was
embedded on an ARDUINO Uno that acts as the control board.
The flight control board receives the message from the
ARDUINO board to control the servos. The quad copter servo
motors are controlled in the presence of any obstacle adjacent
to the ultrasonic sensor.
Keywords: Ultrasonic sensor, Arduino Uno board, LED.
1. INTRODUCTION
MAV is a class of miniature UAVs that has a size restriction
and it is autonomous. It can be as small as 15 centimetres.
MAV development is driven by commercial, government,
research, and military purposes. The Ultrasonic sensor is a
device that can measure the distance to an object by using
sound waves. It measures distance by sending out a sound
wave at a specific frequency and listening for that sound
wave to bounce back. By recording the elapsedtimebetween
the sound wave being generated and the sound wave
bouncing back, it is possible to calculate the distance
between the sonar sensor and the object.
2. HARDWARE AND SOFTWARE
2.1 Ultrasonic Sensor
Ultrasonic sensor (HC-SR04) utilizes sonar to measure the
range of an object. Its range is to find the distance of any
object from 2 cm to 400 cm. This sensor uses sonar to detect
the objects. This sensor widely used in robotics to built the
robots, aircrafts, in order to avoid the obstacle. The
hardware component consists of both ultrasonictransmitter
and receiver module. The sensor module consists of 4 pin
namely: trigger, echo, power supply and ground.
Fig 2.1: (a) Ultrasonic sensor HC-SR04,
(b) Working principle of Ultrasonic Sensor [4]
The figure 2.1 showsultrasonic image andworkingprinciple
of ultrasonic sensor. The distance between the source and
target of echo pin and time taken to reflect back from echo
pin considered. The ultrasonic sensor requires a pulse of
high (5V) for 10μS. This sequentially initiates the ultrasonic
sensor and it sends 8 cycles of 40 kHz. Then, it waits to
receive the reflected ultrasonic signal from the obstacle. To
obtain the distance of the object the width of echo pin is
measured as follows: Time=Width of Echo pulse in
microseconds or the speed of the sound may also be
considered
Distance in centimetres= Time / 58, Distance ininches=
Time / 148.
2.2 LED
Light emitting diodes (LEDs) are semiconductor light
sources. The light emitted from LEDs varies from visible to
infrared and ultraviolet regions. They operateonlowvoltage
and power. LEDs are one of the most common electronic
components and are mostly used as indicators in circuits.
They are also used for luminance and optoelectronic
applications. Based on semiconductor diode, LEDs emit
photons when electrons recombine with holes on forward
biasing. The two terminals of LEDs are anode (+) and
cathode (-) and can be identified by their size. The longerleg
is the positive terminal or anode and shorter one is negative
terminal.](https://image.slidesharecdn.com/irjet-v5i4442-190226060950/85/IRJET-Obstacle-Detection-using-Ultrasonic-Sensor-in-MAV-Micro-Air-Vehicle-1-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 1965
Fig 2.2 Red and Green LED
2.3 ARDUINO UNO Board
HARDWARE
Arduino boarddesigns use a variety of microprocessorsand
controllers. It consists of 14 input/output pins, 6 analog
inputs, 16 MHz crystal oscillators, USB connections, a power
jack and reset button. The Arduino Uno is microcontroller is
based on the Atmega328. Arduino board does not require
any extra programmer to load a new code; insteadUSBcable
can be used. The ATmega328 supports SPI and I2C pins for
communication with many peripheral devices.
Fig 2.3: Arduino Uno board [6]
The Arduino Uno can power via the USB connection or with
an external power supply. However, the pin may supply less
than 5 V and the board may be unstable. If using more than
12 V the voltage regulator may over heat and damage the
board. The Arduino Uno power pins are Vin, 5 V, 3 V and
GND.
SOFTWARE
Arduino Uno is open source project to which any hobbyist
can connect for Atmega chips. In this software code can be
written in either C or java script. A program is written onthe
IDE Arduino is called a sketch.
Arduino programs are divided into 3 parts
Structure
Values
Functions
Fig 2.4: Sketch window for Arduino IDE
The fig 2.4 shows sketch window used to write the code for
Arduino IDE. The header files can be included in this
window. The Arduino Uno board is renamed withaspecified
name and saved in the Arduino file. It is compiled, if any
errorsare occurred it is corrected and thiscorrectedandthis
code is further uploaded to the Arduino Uno board.
3. IMPLEMENTATION
The implementation of ultrasonic sensor with Arduino Uno
board is described. Initially, the algorithm wasdeveloped to
find the obstacle for one ultrasonic sensor. The Algorithm
waswritten in c code using Arduino IDE sketch window.The
code is verified and uploaded to the Arduino board. The
measured distance can be seen through the serialmonitorof
IDE.
Fig 3.1: Block diagram of ultrasonic
The figure 3.1 shows the block diagram of ultrasonic sensor
connected with Arduino board. The algorithmhasdeveloped
to find the distance of an obstacle in the IDE software. Once
the algorithm is developed, the code is verifiedanduploaded
to the board using IDE software. The LED is connected with
Arduino to glow if any obstacle ispresent or not. In practical,
the ultrasonic sensor measures the distance range up to400
cm and the angle is 30 degree and operating voltage from
3.3V to 5V.
Fig 3.2: Connection between Arduino Uno board and
ultrasonic sensor
Arduino Uno
Board
Ultrasonic
Sensor](https://image.slidesharecdn.com/irjet-v5i4442-190226060950/85/IRJET-Obstacle-Detection-using-Ultrasonic-Sensor-in-MAV-Micro-Air-Vehicle-2-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 1966
3.1 Algorithm for obstacle detection with one
sensor
Fig 3.3: Algorithm for obstacle detection
4. RESULTS AND DISCUSSION
Initially a single ultrasonic sensor was connected to flight
control board. Before connecting to Mission planner initial
settings were done to obtain the result from ultrasonic
sensor. The cut-off voltage was set to 0.03 V and maximum
range up to which the ultrasonic sensor can detect was also
mentioned in mission planner software. The results were
obtained by telemetry of 915 Mhz. Ultrasonic sensor was
connected to the analog pin of the flight control board. MAV
was connected to mission planner a flight test was
conducted for5 minutes. Ultrasonic sensordisplayedvoltage
and distance on the mission planner software. A graph was
plotted taking distance versus voltage.
Fig 4.1: Ultrasonic sensor Voltage Versus Distance
Fig. 4.2: Serial Plotter showing Distances
5. CONCLUSION
One Ultrasonic sensor was connected to Arduino control
board and the distances were measured by moving the
obstacle. And the mission planner software showing the
voltage and distance of ultrasonic sensor werecaptured.The
sensor which measures the distance up to 315 cm with
5V.The distance was captured through serial monitor of
Arduino IDE software.
For both indoor and outdoor environment the ultrasonic
sensor gives the best result for obstacle detection.
ACKNOWLEDGEMENT
The authors would like to thank the Director, Mr. Jitendra J
Jadhav CSIR-National Aerospace Laboratories for his
persistence to carry out the work and Dr. Satish Chandra,
Head Structural Technologies Division (STTD) for providing
all the facilitiesfor completing thiswork.MySpecialthanksto
Mr. Aravindu B, Technical Officer of Structural Technologies
Division (STTD), CSIR-National Aerospace Laboratories, for
their help.
REFERENCES
[1] Rajan P Thomas, Jithin K K, Hareesh K S,
Habeeburahman C A, Jithin Abraham,“ Range Detection
based on Ultrasonic Principle”, February 2014.
[2] Shridevi A Mali1, G Sravanthi2*, SivaSubbaRaoP3,Raja
S3,Sushma S J1, A R Reddy2, Rohith P Maben3, “An
Algorithm For Obstacle Avoidance Controller Using
Ultrasonic Sensor For Mini Aircraft Applications”
International Journal of Engineering Technology,
Management and Applied Sciences, , Volume 5,Issue
3,March 2017.
[3] G Sravanthi1, Shridevi A Mali2, Siva Subba Rao P3,
Intelligent Landing Technique Using
[4] Ultrasonic Sensor for Mav Applications, International
Journal Of Pure And Applied Mathematics, Volume 114,
No. 12 2017.
[5] Kirtan Gopal Panda, Deepak Agrawal, Arcade
Nshimiyimana, Ashraf Hossain, “The effects of
environment on accuracy of ultrasonic sensor operates
in millimetre range”, 20 February 2016.
[6] “Arduino Uno” https://en.wikipedia.org/
Wiki/Arduino accessed on 14/10/2017.
[7] H. He, and J. Liu, “The design of ultrasonic distance
measurement system based on S3C2410,” Proceedings
of the IEEE International Conference on Intelligent
Computation Technology and Automation, Oct. 2008.
[8] P. Riseborough, “Automatic Take-Off and Landing
Control for Small UAV’s”.](https://image.slidesharecdn.com/irjet-v5i4442-190226060950/85/IRJET-Obstacle-Detection-using-Ultrasonic-Sensor-in-MAV-Micro-Air-Vehicle-3-320.jpg)
IRJET- Obstacle Detection using Ultrasonic Sensor in MAV (Micro Air Vehicle)
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 1964 Obstacle Detection using Ultrasonic sensor in MAV (Micro Air Vehicle) Sharmila A 1, ,Ramesh P1, Siva Subba Rao Patange 2 ,Dr.S.Raja2, Dr.Aby.K.Thomas1 1Hindustan Institute of Technology and Science, Chennai-603 103. 2CSIR-National Aerospace Laboratories, Bengaluru-560017, India. ---------------------------------------------------------------------***--------------------------------------------------------------------- Abstract: This paper demonstrates the obstacle detection using ultrasonic sensor in Micro Air Vehicle (MAV). Thesensor measures the distance range up to 400 cm or 4mtheoretically. In the presence of many obstacles in front of ultrasonic sensor, nearer obstacle was detected initially. However,theultrasonic sensor can be used for detecting the obstacle based on colour and size and hence collision can be avoided. An algorithm has to develop for avoiding collisions. This algorithm was embedded on an ARDUINO Uno that acts as the control board. The flight control board receives the message from the ARDUINO board to control the servos. The quad copter servo motors are controlled in the presence of any obstacle adjacent to the ultrasonic sensor. Keywords: Ultrasonic sensor, Arduino Uno board, LED. 1. INTRODUCTION MAV is a class of miniature UAVs that has a size restriction and it is autonomous. It can be as small as 15 centimetres. MAV development is driven by commercial, government, research, and military purposes. The Ultrasonic sensor is a device that can measure the distance to an object by using sound waves. It measures distance by sending out a sound wave at a specific frequency and listening for that sound wave to bounce back. By recording the elapsedtimebetween the sound wave being generated and the sound wave bouncing back, it is possible to calculate the distance between the sonar sensor and the object. 2. HARDWARE AND SOFTWARE 2.1 Ultrasonic Sensor Ultrasonic sensor (HC-SR04) utilizes sonar to measure the range of an object. Its range is to find the distance of any object from 2 cm to 400 cm. This sensor uses sonar to detect the objects. This sensor widely used in robotics to built the robots, aircrafts, in order to avoid the obstacle. The hardware component consists of both ultrasonictransmitter and receiver module. The sensor module consists of 4 pin namely: trigger, echo, power supply and ground. Fig 2.1: (a) Ultrasonic sensor HC-SR04, (b) Working principle of Ultrasonic Sensor [4] The figure 2.1 showsultrasonic image andworkingprinciple of ultrasonic sensor. The distance between the source and target of echo pin and time taken to reflect back from echo pin considered. The ultrasonic sensor requires a pulse of high (5V) for 10μS. This sequentially initiates the ultrasonic sensor and it sends 8 cycles of 40 kHz. Then, it waits to receive the reflected ultrasonic signal from the obstacle. To obtain the distance of the object the width of echo pin is measured as follows: Time=Width of Echo pulse in microseconds or the speed of the sound may also be considered Distance in centimetres= Time / 58, Distance ininches= Time / 148. 2.2 LED Light emitting diodes (LEDs) are semiconductor light sources. The light emitted from LEDs varies from visible to infrared and ultraviolet regions. They operateonlowvoltage and power. LEDs are one of the most common electronic components and are mostly used as indicators in circuits. They are also used for luminance and optoelectronic applications. Based on semiconductor diode, LEDs emit photons when electrons recombine with holes on forward biasing. The two terminals of LEDs are anode (+) and cathode (-) and can be identified by their size. The longerleg is the positive terminal or anode and shorter one is negative terminal.
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 1965 Fig 2.2 Red and Green LED 2.3 ARDUINO UNO Board HARDWARE Arduino boarddesigns use a variety of microprocessorsand controllers. It consists of 14 input/output pins, 6 analog inputs, 16 MHz crystal oscillators, USB connections, a power jack and reset button. The Arduino Uno is microcontroller is based on the Atmega328. Arduino board does not require any extra programmer to load a new code; insteadUSBcable can be used. The ATmega328 supports SPI and I2C pins for communication with many peripheral devices. Fig 2.3: Arduino Uno board [6] The Arduino Uno can power via the USB connection or with an external power supply. However, the pin may supply less than 5 V and the board may be unstable. If using more than 12 V the voltage regulator may over heat and damage the board. The Arduino Uno power pins are Vin, 5 V, 3 V and GND. SOFTWARE Arduino Uno is open source project to which any hobbyist can connect for Atmega chips. In this software code can be written in either C or java script. A program is written onthe IDE Arduino is called a sketch. Arduino programs are divided into 3 parts Structure Values Functions Fig 2.4: Sketch window for Arduino IDE The fig 2.4 shows sketch window used to write the code for Arduino IDE. The header files can be included in this window. The Arduino Uno board is renamed withaspecified name and saved in the Arduino file. It is compiled, if any errorsare occurred it is corrected and thiscorrectedandthis code is further uploaded to the Arduino Uno board. 3. IMPLEMENTATION The implementation of ultrasonic sensor with Arduino Uno board is described. Initially, the algorithm wasdeveloped to find the obstacle for one ultrasonic sensor. The Algorithm waswritten in c code using Arduino IDE sketch window.The code is verified and uploaded to the Arduino board. The measured distance can be seen through the serialmonitorof IDE. Fig 3.1: Block diagram of ultrasonic The figure 3.1 shows the block diagram of ultrasonic sensor connected with Arduino board. The algorithmhasdeveloped to find the distance of an obstacle in the IDE software. Once the algorithm is developed, the code is verifiedanduploaded to the board using IDE software. The LED is connected with Arduino to glow if any obstacle ispresent or not. In practical, the ultrasonic sensor measures the distance range up to400 cm and the angle is 30 degree and operating voltage from 3.3V to 5V. Fig 3.2: Connection between Arduino Uno board and ultrasonic sensor Arduino Uno Board Ultrasonic Sensor
- 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 04 | Apr-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 1966 3.1 Algorithm for obstacle detection with one sensor Fig 3.3: Algorithm for obstacle detection 4. RESULTS AND DISCUSSION Initially a single ultrasonic sensor was connected to flight control board. Before connecting to Mission planner initial settings were done to obtain the result from ultrasonic sensor. The cut-off voltage was set to 0.03 V and maximum range up to which the ultrasonic sensor can detect was also mentioned in mission planner software. The results were obtained by telemetry of 915 Mhz. Ultrasonic sensor was connected to the analog pin of the flight control board. MAV was connected to mission planner a flight test was conducted for5 minutes. Ultrasonic sensordisplayedvoltage and distance on the mission planner software. A graph was plotted taking distance versus voltage. Fig 4.1: Ultrasonic sensor Voltage Versus Distance Fig. 4.2: Serial Plotter showing Distances 5. CONCLUSION One Ultrasonic sensor was connected to Arduino control board and the distances were measured by moving the obstacle. And the mission planner software showing the voltage and distance of ultrasonic sensor werecaptured.The sensor which measures the distance up to 315 cm with 5V.The distance was captured through serial monitor of Arduino IDE software. For both indoor and outdoor environment the ultrasonic sensor gives the best result for obstacle detection. ACKNOWLEDGEMENT The authors would like to thank the Director, Mr. Jitendra J Jadhav CSIR-National Aerospace Laboratories for his persistence to carry out the work and Dr. Satish Chandra, Head Structural Technologies Division (STTD) for providing all the facilitiesfor completing thiswork.MySpecialthanksto Mr. Aravindu B, Technical Officer of Structural Technologies Division (STTD), CSIR-National Aerospace Laboratories, for their help. REFERENCES [1] Rajan P Thomas, Jithin K K, Hareesh K S, Habeeburahman C A, Jithin Abraham,“ Range Detection based on Ultrasonic Principle”, February 2014. [2] Shridevi A Mali1, G Sravanthi2*, SivaSubbaRaoP3,Raja S3,Sushma S J1, A R Reddy2, Rohith P Maben3, “An Algorithm For Obstacle Avoidance Controller Using Ultrasonic Sensor For Mini Aircraft Applications” International Journal of Engineering Technology, Management and Applied Sciences, , Volume 5,Issue 3,March 2017. [3] G Sravanthi1, Shridevi A Mali2, Siva Subba Rao P3, Intelligent Landing Technique Using [4] Ultrasonic Sensor for Mav Applications, International Journal Of Pure And Applied Mathematics, Volume 114, No. 12 2017. [5] Kirtan Gopal Panda, Deepak Agrawal, Arcade Nshimiyimana, Ashraf Hossain, “The effects of environment on accuracy of ultrasonic sensor operates in millimetre range”, 20 February 2016. [6] “Arduino Uno” https://en.wikipedia.org/ Wiki/Arduino accessed on 14/10/2017. [7] H. He, and J. Liu, “The design of ultrasonic distance measurement system based on S3C2410,” Proceedings of the IEEE International Conference on Intelligent Computation Technology and Automation, Oct. 2008. [8] P. Riseborough, “Automatic Take-Off and Landing Control for Small UAV’s”.