Design and Evaluation Framework for Ultrasonic Obstacle Detection and Collision Avoidance in an Arduino-Based Mobile Robot

This paper described an Arduino-based mobile robot that uses an HC-SR04 sensor, an L293D driver and two DC geared motors to detect obstacles by a distance threshold and to avoid collisions by stopping, turning and resuming movement. It documented the platform with manufacturer-documented component limits, distinguished the L293D logic and motor supplies, and proposed a reference wiring and control sequence that are kept separate from the prototype records. Because the title promises a framework and not a measured study, its contribution is a design description together with a six-experiment evaluation framework covering distance error, material, angle, sudden obstacles, repeatability and avoidance performance, which is intended to help judge a low-cost platform. Applications such as educational robotics and simple indoor mobile platforms are plausible only after validation. Because the experiments have not yet been performed, no performance is claimed. The limitations of single-sensor sensing and the undocumented prototype details identified in Sections VI–IX remain to be addressed.

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