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Arduino UNO-Based Autonomous Robot with Ultrasonic Obstacle Avoidance and Battery-Powered Mobility

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Circuit Documentation

Summary

This circuit is designed to control a robotic vehicle using an Arduino UNO microcontroller. The vehicle is equipped with an ultrasonic sensor for obstacle detection, DC motors for movement, and an IR receiver for remote control. The circuit also includes a water pump and a solar panel for additional functionalities.

Component List

  1. Arduino UNO

    • Description: Microcontroller board based on the ATmega328P.
    • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

  2. HC-SR04 Ultrasonic Sensor

    • Description: Ultrasonic distance sensor.
    • Pins: VCC, TRIG, ECHO, GND

  3. Gearmotor DC Wheels (Left)

    • Description: DC motor for left wheels.
    • Pins: PIN1, PIN2

  4. Gearmotor DC Wheels (Right)

    • Description: DC motor for right wheels.
    • Pins: PIN1, PIN2

  5. L298N DC Motor Driver

    • Description: Dual H-Bridge motor driver.
    • Pins: OUT1, OUT2, 12V, GND, 5V, OUT3, OUT4, 5V-ENA-JMP-I, 5V-ENA-JMP-O, +5V-J1, +5V-J2, ENA, IN1, IN2, IN3, IN4, ENB

  6. Rocker Switch (SPST)

    • Description: Single pole single throw switch.
    • Pins: 1, 2

  7. Arduino Sensor Shield v5.0

    • Description: Expansion shield for Arduino UNO.
    • Pins: VCC, SD-VCC, SD-GND, SD-D11, SD-D10, SD-D13, SD-D12, URF01-VCC, URF01-A0, URF01-A1, URF01-GND, GND, SEL1, SEL2, A0-SIG, A0-VCC, A0-GND, A1-SIG, A1-VCC, A1-GND, A2-SIG, A2-VCC, A2-GND, A3-SIG, A3-VCC, A3-GND, A4-SIG, A4-VCC, A4-GND, A5-SIG, A5-VCC, A5-GND, IIC-SCL, IIC-SDA, IIC-GND, IIC-VCC, COM-TX, COM-RX, COM-GND, COM-VCC, APC220-, APC220-D0, APC220-D1, APC220-VCC, APC220-GND, BLUETOOTH-3V3, BLUETOOTH-GND, BLUETOOTH-D0, BLUETOOTH-D1, BLUETOOTH-VCC, AREF-S, AREF-V, AREF-G, GND-S, GND-V, GND-G, 13-S, 13-V, 13-G, 12-S, 12-V, 12-G, 11-S, 11-V, 11-G, 10-S, 10-V, 10-G, 9-S, 9-V, 9-G, 8-S, 8-V, 8-G, 7-S, 7-V, 7-G, 6-S, 6-V, 6-G, 5-S, 5-V, 5-G, 4-S, 4-V, 4-G, 3-S, 3-V, 3-G, 2-S, 2-V, 2-G, 1-S, 1-V, 1-G, 0-S, 0-V, 0-G, ParallelLCD-VCC, ParallelLCD-D13, ParallelLCD-GND, ParallelLCD-D12, ParallelLCD-D2, ParallelLCD-D11, ParallelLCD-D3, ParallelLCD-D10, ParallelLCD-D4, ParallelLCD-D9, ParallelLCD-D5, ParallelLCD-D8, ParallelLCD-D6, ParallelLCD-D7, SerialLCD-D4, SerialLCD-VCC, SerialLCD-D3, SerialLCD-, SerialLCD-D2, SerialLCD-GND

  8. 2x 18650 Battery Pack

    • Description: Battery pack with two 18650 cells.
    • Pins: vcc, gnd

  9. Water Pump

    • Description: Small water pump.
    • Pins: positive, negative

  10. Solar Panel

    • Description: Solar panel for power generation.
    • Pins: +, -

  11. IR Receiver

    • Description: Infrared receiver for remote control.
    • Pins: DATA, VCC, GND

Wiring Details

HC-SR04 Ultrasonic Sensor

Gearmotor DC Wheels (Left)

Gearmotor DC Wheels (Right)

L298N DC Motor Driver

Rocker Switch (SPST)

Water Pump

IR Receiver

Arduino Sensor Shield v5.0

2x 18650 Battery Pack

Solar Panel

Documented Code

#include <Servo.h>

volatile int IN1 = 11;
volatile int IN2 = 6;
volatile int IN3 = 5;
volatile int IN4 =