“RADAR OBJECT DETECTION”

A Mini-Project Report Submitted To

UKA TARSADIA UNIVERSITY

In Partial Fulfilment of the Requirements for the Degree Of

Bachelor of Technology
In
Electronics and Communication Engineering/
Information and Communication Technology

By (Group 8)

Name (Enroll. No)

Gautam Rathod (202103103510411)
Savita Yadav (202103103510417)

Guided by
Prof. Chitan Desai

C.G.P.I.T.
Department of Information & Communication Technology
Bardoli, Surat.

April, 2024
 CERTIFICATE

This is to certify that work embodied in this project entitled “Radar

Object Detection” was carried out by “Gautam Manoj Rathod”

(202103103510411), “Savita Hiralal Yadav”(202103103510417) at

C.G.P.I.T. for the partial fulfilment of B. Tech. degree to be awarded by UKA

TARSADIA UNIVERSITY. This work has been carried out under my

supervision and is to my satisfaction.

Date:

Place:

Signature and Name of Supervisor Signature and Name of HOD

Prof. Chintan Desai Dr. Mayank R. Kapadia
Professor, Dept. of EC & ICT Head of the EC/ICT Department

CGPIT/BTech/ICT/Mini Project
 ACKNOWLEDGMENT

We would like to extend our sincere appreciation and gratitude to all the
individuals and organizations who have contributed to the successful
completion of this group university project.

First and foremost, we would like to express our heartfelt thanks to our
Head of Department Dr. Mayank R. Kapadia and our Guide Mr.
Chintan Desai for their unwavering support, valuable guidance, and
insightful feedback throughout the duration of this project. Their
expertise and encouragement have been pivotal in shaping the direction
of our work and have inspired us to deliver our best.

We would also like to acknowledge the collaborative efforts and

contributions from “Gautam Manoj Rathod” (202103103510411),
“Savita Hiralal Yadav” (202103103510417). Working together as a
team has not only enriched our project with diverse perspectives but has
also fostered a spirit of mutual support. Each member’s unique skills and
dedication have played a crucial role in achieving our shared goals.

Date:-

CGPIT/BTech/ICT/Mini Project
 ABSTRACT

The application of radio detection and ranging in different places such

as military installation, commercial use is done with the help of RADAR
SYSTEM which uses electromagnetic waves for detection of different
physical components such as distance, speed, position, range, direction,
size etc which can be either fixed or be in motion. Use of radar system
has been developed greatly specially in field of navigation. In this
research we study about existing navigation technologies and proposed
an Arduino based radar system. It has advantage over other radar system
as kit reduces power consumption and connect programmer to wide
range or Arduino programmers and open source code. The system
consist a basic ultrasonic sensor placed upon a servo motor which rotates
at a certain angle and speed. This ultrasonic sensor is connected to
Arduino digital input output pins and servo motor also connected to
digital input output pins.

CGPIT/BTech/ICT/Mini Project
Table of Contents

CERTIFICATE
ACKNOWLEDGMENT
ABSTRACT
List of Figures
1 Introduction
1.1 Arduino Uno
1.2 Ultrasonic Sensor
1.3 Servo motor
2 System design & Connection
3 Brief History of Radar
4 Implementation
4.1 System Implementation
4.2 Arduino Code
4.3 Processing Code
5 Results
6 Advantages
7 Conclusion

CGPIT/BTech/ICT/Mini Project
List of Figures

Figure 1.1 : Arduino

Figure 1.2 : Ultrasonic sensor
Figure 1.3 : Servo Motor
Figure 2.1 : Hardware system design of Radar
Figure 2.1 : Connection of System
Figure 4.1 : System Implementation
Figure 5.1 : No obstacle Detected
Figure 5.2 : Obstacle Detected

CGPIT/BTech/ICT/Mini Project
 1 Introduction

1.1 Arduino
An Arduino is actually a microcontroller based kit which can be either used directly by
purchasing from the vendor or can be made at home using the components, owing to its
open source hardware feature. It is basically used in communications and in controlling or
operating many devices.
1. Arduino is an open-source electronics platform based on easy-to-use hardware and
software. Arduino boards are able to read inputs - light on a sensor, a finger on a button
- and turn it into an output - activating a motor, turning on an LED, publishing
something online. You can tell your board what to do by sending a set of instructions
to the microcontroller on the board. To do so you use the Arduino programming
language (based on Wiring), and the Arduino Software (IDE), based on Processing.
2. Over the years Arduino has been the brain of thousands of projects, from everyday
objects to complex scientific instruments. A worldwide community of makers -
students, programmers, and professionals - has gathered around this open-source
platform.
3. Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast
prototyping, aimed at students without a background in electronics and programming.
As soon as it reached a wider community, the Arduino board started changing to adapt
to new needs and challenges, differentiating its offer from simple 8-bit boards to
products for IoT applications, wearable, 3D printing, and embedded environments.

Figure 1.1:- Arduino Uno

CGPIT/BTech/ICT/Mini Project
1.2 Ultrasonic Sensor

As the name indicates, ultrasonic sensors measure distance by using ultrasonic

waves.The sensor head emits an ultrasonic wave and receives the wave reflected
back from the target. Ultrasonic Sensors measure the distance to the target by
measuring the time between the emission and reception. An optical sensor has a
transmitter and receiver, whereas an ultrasonic sensor uses a single ultrasonic
element for both emission and reception. In a reflective model ultrasonic sensor, a
single oscillator emits and receives ultrasonic waves alternately. This enables
miniaturization of the sensor head.
Distance calculation
The distance can be calculated with the following formula:
Distance L = 1/2 × T × C
Where L is the distance, T is the time between the emission and reception, and C is
the sonic speed.
(The value is multiplied by 1/2 because T is the time for go-and-return distance.)
Features The following list shows typical characteristics enabled by the detection
system. [Transparent object detectable]
Since ultrasonic waves can reflect off a glass or liquid surface and return to the
sensor head, even transparent targets can be detected. [Resistant to mist and dirt]
Detection is not affected by accumulation of dust or dirt. [Complex shaped objects
detectable]
Presence detection is stable even for targets such as mesh trays or springs.

Figure 1.2 : Ultrasonic Sensor

CGPIT/BTech/ICT/Mini Project
1.3 Servo Motor
A servomotor is a rotary actuator that allows for precise control of angular
position, velocity and acceleration. It consists of a suitable motor coupled to
a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with
servomotors. Servomotors are not a different class of motor, on the basis of
fundamental operating principle, but uses servomechanism to achieve closed
loop control with a generic open loop motor. Servomotors are used in
applications such as robotics, CNC machinery or automated manufacturing.

Figure 1.3 : Servo Motor

CGPIT/BTech/ICT/Mini Project
 2 System design & Connection

Figure 2.1:- Hardware system design of Radar System

Figure 2.2:- Connection of System

CGPIT/BTech/ICT/Mini Project
 3 Brief History of the Radar

While Radar technology using radio waves has a long history, utilizing Arduino Uno
and ultrasonic sensors for object detection is a relatively new concept. Radars using
electromagnetic waves originated in the early 20th century, around World War II.
Arduino itself is a single-board microcontroller platform that gained popularity
around the mid-2000s.

This affordable and user-friendly platform made it easier for hobbyists and educators
to experiment with electronics projects. The Arduino and ultrasonic sensors for
object detection likely emerged sometime in the late 2000s or early 2010s.

Ultrasonic sensors, which operate on sound waves rather than radio waves, are a
lower-cost alternative to traditional radar systems.

They are well-suited for shorter range applications and educational purposes. The
combination of Arduino Uno and ultrasonic sensors provides a low-cost platform
for people to learn about object detection and basic radar principles.

CGPIT/BTech/ICT/Mini Project
 4 Implementation

4.1 System Implementation

Implementation of hardware system. It can be seen that ultrasonic servomotor is
placed upon a servo motor and it is placed above bread board. Arduino is placed in
breadboard in other side of the breadboard and entire connection is made between
them. Arduino and servo motor are stick to breadboard to stop it from tripping over
when servo motor moves. Arduino IDE was used to write code and upload it in
Arduino. Arduino code reads position of servo motor and calculate distance of
nearest object in the path.

Figure 4.1 :- System Implementation

CGPIT/BTech/ICT/Mini Project
4.2 Arduino Code
// Includes the Servo library
#include <Servo.h>.
// Defines Tirg and Echo pins of the Ultrasonic Sensor
const int trigPin = 10;
const int echoPin = 11;
// Variables for the duration and the distance
long duration;
int distance;
Servo myServo; // Creates a servo object for controlling the servo motor
void setup()

{
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600);
myServo.attach(12); // Defines on which pin is the servo motor attached
}

void loop()
{
// rotates the servo motor from 15 to 165 degrees
for(int i=15;i<=165;i++)
{
myServo.write(i);
delay(30);
distance = calculateDistance();// Calls a function for calculating the distance measured by
the Ultrasonic sensor for each degree

Serial.print(i); //Sends the current degree into the Serial Port

Serial.print(","); //Sends addition character right next to the previous value needed late in
the Processing IDE for indexing
Serial.print(distance); //Sends the distance value into the Serial Port

CGPIT/BTech/ICT/Mini Project
Serial.print("."); // Sends addition character right next to the previous value needed later in
the Processing IDE for indexing
}
// Repeats the previous lines from 165 to 15 degrees
for(int i=165;i>15;i--)
{
myServo.write(i);
delay(30);
distance = calculateDistance();
Serial.print(i);
Serial.print(",");
Serial.print(distance);
Serial.print(".");
}
}

// Function for calculating the distance measured by the Ultrasonic sensor

int calculateDistance()
{
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel
time in microseconds
distance= duration*0.034/2;
return distance;
}

CGPIT/BTech/ICT/Mini Project
4.3 Processing Code

+import processing.serial.*; // imports library for serial communication

import java.awt.event.KeyEvent; // imports library for reading the data from the serial port
import java.io.IOException;
Serial myPort; // defines Object Serial
String angle="";
String distance="";
String data="";
String noObject;
float pixsDistance;
int iAngle, iDistance;
int index1=0;
int index2=0;
PFont orcFont;

void setup()
{
size (1200, 700);
smooth();
myPort = new Serial(this,"COM3", 9600); // starts the serial communication
myPort.bufferUntil('.'); //reads the data from the serial port up to the character '.'. So
actually it reads this: angle,distance.
}
void draw()
{

fill(98,245,31); //simulating motion blur and slow fade of the moving line
noStroke();
fill(0,4);
rect(0, 0, width, height-height*0.065);

fill(98,245,31); //green color

// calls the functions for drawing the radar
drawRadar();
drawLine();
drawObject();
drawText();
}

void serialEvent (Serial myPort)

{ // starts reading data from the Serial Port
// reads the data from the Serial Port up to the character '.' and puts it into the String
variable "data".
data = myPort.readStringUntil('.');
data = data.substring(0,data.length()-1);

index1 = data.indexOf(","); // find the character ',' and puts it into the variable "index1"

CGPIT/BTech/ICT/Mini Project
 angle= data.substring(0, index1); // read the data from position "0" to position of the
variable index1 or thats the value of the angle the Arduino Board sent into the Serial Port
distance= data.substring(index1+1, data.length()); // read the data from position "index1"
to the end of the data pr thats the value of the distance

// converts the String variables into Integer

iAngle = int(angle);
iDistance = int(distance);
}

void drawRadar()
{
pushMatrix();
translate(width/2,height-height*0.074); // moves the starting coordinats to new location
noFill();
strokeWeight(2);
stroke(98,245,31);
// draws the arc lines
arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
// draws the angle lines
line(-width/2,0,width/2,0);
line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
line((-width/2)*cos(radians(30)),0,width/2,0);
popMatrix();
}

void drawObject()
{
pushMatrix();
translate(width/2,height-height*0.074); // moves the starting coordinats to new location
strokeWeight(9);
stroke(255,10,10); // red color
pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers the distance from the
sensor from cm to pixels
// limiting the range to 40 cms
if(iDistance<40)
{
// draws the object according to the angle and the distance
line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-
width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
}

CGPIT/BTech/ICT/Mini Project
 popMatrix();
}

void drawLine()
{
pushMatrix();
strokeWeight(9);
stroke(30,250,60);
translate(width/2,height-height*0.074); // moves the starting coordinats to new location
line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-
height*0.12)*sin(radians(iAngle))); // draws the line according to the angle
popMatrix();
}

void drawText()
{ // draws the texts on the screen
pushMatrix();
if(iDistance>40)
{
noObject = "Out of Range";
}
else
{
noObject = "In Range";
}
fill(0,0,0);
noStroke();
rect(0, height-height*0.0648, width, height);
fill(98,245,31);
textSize(25);

text("10cm",width-width*0.3854,height-height*0.0833);
text("20cm",width-width*0.281,height-height*0.0833);
text("30cm",width-width*0.177,height-height*0.0833);
text("40cm",width-width*0.0729,height-height*0.0833);
textSize(40);
text("MINI PROJECT ", width-width*0.875, height-height*0.0277);
text("Angle: " + iAngle +" ", width-width*0.48, height-height*0.0277);
text("Distance: ", width-width*0.26, height-height*0.0277);
if(iDistance<40)
{
text(" " + iDistance +" cm", width-width*0.225, height-height*0.0277);
}
textSize(25);
fill(98,245,60);
translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-
width/2*sin(radians(30)));
rotate(-radians(-60));
text("30 ",0,0);

CGPIT/BTech/ICT/Mini Project
 resetMatrix();
translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-
width/2*sin(radians(60)));
rotate(-radians(-30));
text("60 ",0,0);
resetMatrix();
translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-
width/2*sin(radians(90)));
rotate(radians(0));
text("90 ",0,0);
resetMatrix();
translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-
width/2*sin(radians(120)));
rotate(radians(-30));
text("120 ",0,0);
resetMatrix();
translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-
width/2*sin(radians(150)));
rotate(radians(-60));
text("150 ",0,0);
popMatrix();
}

CGPIT/BTech/ICT/Mini Project
 5 Results

Figure 5.1:- No obstacle detected

Figure 5.2:- Obstacle Detected

CGPIT/BTech/ICT/Mini Project
 6 Advantages

1. Improvised accuracy: The resistors with low value in milli ohms are used in advanced
cars with sensitive power steering and break circuits. Now a days these advancements
have become the major cause for the severe accidents. Therefore the components used
in such circuits must have accurate and precise value for smooth working of such
circuits. Ultimately this refers to the accurate testing of the resistors used. Improvised
accuracy is thus the second primary aim of the sensor.

2. Reduced hardware complexity: Hardware complexity is one of the reasons for the high
cost of the ultrasonic sensor. The use of arduino Uno is to reduce the motherboard
present in the conventional ohmmeter in arduino based ultrasonic sensor. The arduino
acts as the central board. Since arduino are readily available in market it leads to the
reduction in the complexity of the design. The automated range selection is also the
objective in order to speedup the testing process. This will also reduce the faults in
range selection in manually operated conventional sensor.

7 Conclusion

Our Project aims on the use of Ultrasonic Sensor by connected to the Arduino UNO R3
board and the signal from the sensor further provided to the screen formed on the laptop to
measure the presence of any obstacle in front of the sensor as well as determine the range
and angle at which the obstacle is detected by the sensor.

This system can be used in robotics for object detection and avoidance system or can also
be used for intrusion detection for location sizes.
Range of the system depends upon type of ultra-sonic sensor used. We used HC-SR04
sensor which range from 2 to 40 cm.

CGPIT/BTech/ICT/Mini Project