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Devansh Aneja
Independent Researcher
India
Abstract
Real-time obstacle avoidance remains a critical capability for autonomous mobile robots operating in unstructured environments. Ultrasonic sensors, owing to their low cost, simplicity, and robustness, have been widely adopted for proximity detection. This manuscript presents a comprehensive study on designing and evaluating an ultrasonic‐sensor–based real‐time obstacle avoidance system for mobile robots, using microcontroller‐driven data acquisition and embedded control loops. We describe the system architecture, including sensor mounting strategies, signal conditioning, sampling algorithms, and reactive control methods. A statistical analysis of sensor measurement noise and detection accuracy is provided in a table. Simulation studies conducted in a custom MATLAB/Simulink environment validate the control strategy against static and dynamic obstacles. Results demonstrate that the proposed approach achieves obstacle detection within 30 ms and avoidance trajectories with a mean deviation of less than 5 cm in controlled scenarios. The conclusions highlight practical insights and future directions for integrating multi‐sensor fusion.
Keywords: Ultrasonic sensors; mobile robots; real‐time obstacle avoidance; reactive control; microcontroller
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