{"id":869,"date":"2026-06-12T15:55:48","date_gmt":"2026-06-12T07:55:48","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/obstacle-avoidance-hcsr04-ir-ugv-collision-avoidance-farsi\/"},"modified":"2026-06-12T15:55:49","modified_gmt":"2026-06-12T07:55:49","slug":"obstacle-avoidance-hcsr04-ir-ugv-collision-avoidance-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/obstacle-avoidance-hcsr04-ir-ugv-collision-avoidance-farsi\/","title":{"rendered":"Obstacle Avoidance \u0628\u0627 HC-SR04 \u0648 IR \u0628\u0631\u0627\u06cc UGV \u2014 \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0627\u0632 \u0628\u0631\u062e\u0648\u0631\u062f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nObstacle Avoidance UGV HC-SR04 \u0633\u0648\u0646\u0627\u0631 IR\n<\/div>\n
\n

\u0627\u062c\u062a\u0646\u0627\u0628 \u0627\u0632 \u0645\u0648\u0627\u0646\u0639 \u2014 \u062d\u0633 \u06f6\u0645 \u0631\u0628\u0627\u062a<\/h2>\n

HC-SR04<\/strong> \u06cc\u06a9 \u0633\u0648\u0646\u0627\u0631 \u0627\u0648\u0644\u062a\u0631\u0627\u0633\u0648\u0646\u06cc\u06a9 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u0627\u0631\u0633\u0627\u0644 \u067e\u0627\u0644\u0633 \u0635\u0648\u062a\u06cc \u06f4\u06f0kHz \u0648 \u0632\u0645\u0627\u0646\u200c\u0628\u0646\u062f\u06cc \u0628\u0627\u0632\u06af\u0634\u062a \u0622\u0646 \u0641\u0627\u0635\u0644\u0647 \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f: \u0641\u0627\u0635\u0644\u0647(cm) = \u0632\u0645\u0627\u0646(\u03bcs) \/ 58. \u0628\u0631\u062f \u06f2\u2013\u06f4\u06f0\u06f0cm \u0648 \u062f\u0642\u062a \u00b1\u06f3mm \u062f\u0627\u0631\u062f. \u0627\u0631\u0632\u0627\u0646 (~\u06f4\u06f0K) \u0648 \u0645\u062d\u0628\u0648\u0628.<\/p>\n

\u062d\u0633\u06af\u0631 IR \u0634\u0627\u0631\u067e<\/strong> (GP2Y0A21) \u0628\u0627 \u0646\u0648\u0631 \u0645\u0627\u062f\u0648\u0646 \u0642\u0631\u0645\u0632 \u0641\u0627\u0635\u0644\u0647 \u06f1\u06f0\u2013\u06f8\u06f0cm \u0631\u0627 \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f \u2014 \u0622\u0646\u0627\u0644\u0648\u06af\u060c \u0633\u0631\u06cc\u0639\u200c\u062a\u0631 \u0627\u0632 \u0633\u0648\u0646\u0627\u0631 \u0627\u0645\u0627 \u062a\u062d\u062a\u200c\u062a\u0623\u062b\u06cc\u0631 \u0646\u0648\u0631 \u0622\u0641\u062a\u0627\u0628. \u062a\u0631\u06a9\u06cc\u0628 \u0647\u0631 \u062f\u0648 \u0628\u0647\u062a\u0631\u06cc\u0646 \u0646\u062a\u06cc\u062c\u0647 \u0631\u0627 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n

\u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 Bug0<\/strong> \u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u0631\u0648\u0634 \u0627\u062c\u062a\u0646\u0627\u0628 \u0627\u0632 \u0645\u0648\u0627\u0646\u0639 \u0627\u0633\u062a: \u0628\u0647 \u0633\u0645\u062a \u0647\u062f\u0641 \u0628\u0631\u0648\u060c \u0627\u06af\u0631 \u0645\u0627\u0646\u0639 \u062f\u06cc\u062f\u06cc \u0622\u0646 \u0631\u0627 \u062f\u0648\u0631 \u0628\u0632\u0646 \u062a\u0627 \u0645\u062c\u062f\u062f \u0645\u0633\u06cc\u0631 \u0622\u0632\u0627\u062f \u0634\u0648\u062f.<\/p>\n<\/div>\n

BOM \u062d\u0633\u06af\u0631\u0647\u0627<\/h2>\n\n\n\n\n\n\n\n
\u0642\u0637\u0639\u0647<\/th>\n\u0628\u0631\u062f<\/th>\n\u0642\u06cc\u0645\u062a<\/th>\n<\/tr>\n<\/thead>\n
HC-SR04 (\u062c\u0644\u0648)<\/td>\n\u06f2\u2013\u06f4\u06f0\u06f0cm<\/td>\n~\u06f4\u06f0K<\/td>\n<\/tr>\n
HC-SR04 \u00d7 \u06f2 (\u06a9\u0646\u0627\u0631\u06cc)<\/td>\n\u06f2\u2013\u06f4\u06f0\u06f0cm<\/td>\n~\u06f8\u06f0K<\/td>\n<\/tr>\n
IR Sharp GP2Y0A21 (\u0639\u0642\u0628)<\/td>\n\u06f1\u06f0\u2013\u06f8\u06f0cm<\/td>\n~\u06f1\u06f5\u06f0K<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 Bug0 \u0628\u0627 HC-SR04<\/h2>\n
long readSonar(int trigPin, int echoPin){\n  digitalWrite(trigPin, LOW); delayMicroseconds(2);\n  digitalWrite(trigPin, HIGH); delayMicroseconds(10);\n  digitalWrite(trigPin, LOW);\n  long dur = pulseIn(echoPin, HIGH, 30000);  \/\/ timeout 30ms\n  return dur \/ 58;  \/\/ cm\n}\n\n\/\/ \u062d\u0633\u06af\u0631\u0647\u0627: TRIG\/ECHO \u062c\u0644\u0648\u060c \u0686\u067e\u060c \u0631\u0627\u0633\u062a\n#define TRIG_F 4  #define ECHO_F 5\n#define TRIG_L 6  #define ECHO_L 7\n#define TRIG_R 8  #define ECHO_R 9\n#define SAFE_DIST 30  \/\/ cm\n\nvoid loop(){\n  long dF = readSonar(TRIG_F, ECHO_F);\n  long dL = readSonar(TRIG_L, ECHO_L);\n  long dR = readSonar(TRIG_R, ECHO_R);\n\n  if(dF > SAFE_DIST){\n    \/\/ \u0645\u0633\u06cc\u0631 \u0622\u0632\u0627\u062f \u2014 \u0628\u0647 \u0633\u0645\u062a GPS Waypoint\n    navigateToWaypoint();\n  } else if(dR > dL && dR > SAFE_DIST){\n    \/\/ \u0633\u0645\u062a \u0631\u0627\u0633\u062a \u0622\u0632\u0627\u062f\u062a\u0631 \u2014 \u062f\u0648\u0631 \u0628\u0632\u0646\n    drive(-100, 100);  \/\/ \u0686\u0631\u062e\u0634 \u0631\u0627\u0633\u062a\n    delay(300);\n  } else if(dL > SAFE_DIST){\n    drive(100, -100);  \/\/ \u0686\u0631\u062e\u0634 \u0686\u067e\n    delay(300);\n  } else {\n    \/\/ \u0647\u0645\u0647 \u0637\u0631\u0641 \u0628\u0633\u062a\u0647 \u2014 \u0639\u0642\u0628 \u0628\u0631\u0648\n    drive(-150, -150);\n    delay(500);\n  }\n}<\/code><\/pre>\n
\n\u062c\u0627\u0646\u0645\u0627\u06cc\u06cc \u062d\u0633\u06af\u0631\u0647\u0627\u06cc \u0645\u0627\u0646\u0639 \u0631\u0648\u06cc UGV<\/text>\n\nUGV<\/text>\n\n\nHC-SR04 F<\/text>\n\n\n\nHC-L<\/text>\n\n\nHC-R<\/text>\n\n\nIR Sharp B<\/text>\n\n\u2191 \u062c\u0644\u0648<\/text>\n<\/svg><\/p>\n
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