Obstacle-Avoidance Robot
Fuse distance sensing with a deterministic stop-turn-recheck state machine.
Learning objective
Fuse distance sensing with a deterministic stop-turn-recheck state machine.
Components and tools
- Development board
- Current-limited low-voltage supply
- Digital multimeter
- Oscilloscope or logic analyser
- Emergency power disconnect
Safety before motion
- Use a clear test arena and low speed.nSensors are not a substitute for a reachable power stop.nTreat invalid/stale range as stop, not clear path.
Practical procedure
- Lift wheels and test motor commands.nValidate sensor minimum/maximum range.nRequire repeated valid readings.nStop before the safety distance.nTurn slowly and remeasure before forward motion.
Measurement checkpoints
| Checkpoint | Expected | Instrument | Safety limit |
|---|---|---|---|
| Stop distance | Robot stops before boundary | Tape measure | Safety marginnInvalid reading |
Troubleshooting
| Symptom | Check | Corrective action |
|---|---|---|
| Collides | Stale/noisy readings | Filter and fail safenSpins continuously |
Engineering sizing tools
Calculate before powering
Mandatory pre-start gate
Machine safety checklist
The simulated enable button remains locked until every item is confirmed.