UTRA Hacks Autonomous Path-Finding Robot

Created with Arduino Uno R4 Minima, PlatformIO, and C++.

The robot autonomously navigates a maze using only color and ultrasonic sensors, without human input. The project involved mechanical design, circuit wiring, and algorithm development for sensor-based navigation and obstacle avoidance.

Features

• 3D printed claw to secure the flag in the middle of the maze
• Dynamic array used for efficient sensor data processing and decision-making
• Color-based navigation using the TCS230 color sensor
• Ultrasonic sensor for obstacle detection and avoidance
• Smooth motor control using the L298N motor driver

Programs

1. Color Detection Program

• Reads pulse widths from the TCS230 color sensor.
• Detects colors (Red, Blue, Green) to guide navigation decisions.

2. Obstacle Avoidance Program

• Uses the HC-SR04 ultrasonic sensor to maintain a safe distance from obstacles.
• Stops and maneuvers when proximity falls below the threshold.

3. Navigation Algorithm

• Combines color detection and obstacle avoidance.
• Implements decision-making for pathfinding within the maze.
• Smooth motor control for driving and turning.

Hardware Requirements

• L298N Motor Driver
• 2 x 12 Volt DC Brushless Motors
• TCS230 Color Sensor
• HC-SR04 Ultrasonic Sensor
• Arduino Uno R4 Minima
• Micro Servo
• Breadboard
• Jumper Wires

Software Requirements

• PlatformIO IDE

Developed by

• Kartik B.
• Nihar S.
• Tanmay S.
• Shivam W.
• Saswath Y.