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A MINOR PROJECT REPORT

on

SMART WHEELCHAIR
Submitted in partial fulfilment for the award of the degree
of

BACHELOR OF TECHNOLOGY

in

ELECTRICAL AND ELECTRONICS ENGINEERING

by

Turjoy Dasgupta(RA1411005010318)
Ankan Mondal(RA1411005010320)
Shiladitya Dutta(RA1411005010331)

Under the guidance of

Dr. J. Preetha Roselyn M.E.,Ph.D

(Assistant Professor (O.G), Department of Electrical and Electronics Engineering)

FACULTY OF ENGINEERING AND TECHNOLOGY

SRM Nagar, Kattankulathur- 603 203
Kancheepuram Dist.

MAY 2017
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BONAFIDE CERTIFICATE

Certified that this minor project report titled “Smart Wheelchair using Arduino

microcontroller” is the bonafide work of TURJOY DASGUPTA(RA1411005010318)

who carried out the project work under my supervision. Certified further, that to the best

of my knowledge the work reported herein does not form part of any other project report

or dissertation on the basis of which a degree or award was conferred on an earlier occasion

of this or any other candidate.

Signature of the Guide Signature of the HOD

Dr. J. Preetha Roselyn M.E., Ph.D Dr. K. VIJAYAKUMAR, M.E., Ph. D
Asst. Professor (O.G) Professor and Head
Department of EEE Department of EEE
SRM University SRM University

Internal Examiner External Examiner

Date:
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ACKNOWLEDGEMENT

We are very thankful to everyone who all supported us, for we have completed our
project effectively and moreover on time. We are equally grateful to our teacher
Dr. J. Preetha Roselyn. She gave us moral support and guided us in different matters
regarding the topic. She had been very kind and patient while suggesting us the outlines
of this project and correcting our doubts. We thank for her overall supports.
We would like to thank our dean Dr. K Vijay Kumar who helped us a lot in gathering
different information, collecting data from time to time in making this project despite of
their busy schedules.
Last but not the least; we thank our coordinator Mr. Ajith. He gave us different ideas in
making this project unique.
And we would also like to thank our Family; they have guided us from time to time in
making this project. We would like to thank our Friends and also the person who have
bound this report.

Turjoy Dasgupta(RA1411005010318)
Ankan Mondal(RA1411005010320)
Shiladitya Dutta(RA1411005010331)
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ABSTRACT

The ability to move independently is critical to individuals of all ages. Physically

disabled people, for instance quadriplegics need appropriate machinery for their mobility.
Moreover, people who lose the ability to move get socially isolated due to the lack of
opportunity. Therefore, to improve the quality of their lives it is essential to engineer
properly functioning and safe equipment.
Smart wheelchairs are engineered with a collection of sensors and computers using
systems and algorithms, which are designed to provide safe navigation with obstacle
avoidance. This project proposes a real time obstacle avoidance embedded system using
an Arduino microcontroller.
The smart wheelchair is a motorized wheelchair with a obstacle avoidance embedded
system. It uses an Arduino interface for its computing and an ultrasonic sensor for the
detection of obstacles. It uses a dual DC motor driver, two DC motors, batteries and other
mechanical components for the wheelchair frame. The wheelchair is controlled using a
Bluetooth sensor from an android mobile phone.
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TABLE OF CONTENTS

Sl. No. Contents Pg. no

1. Chapter 1: Components 1

2. Chapter 2: Making the Model 11

3. Chapter 3: Working 19

4. References 31
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TABLE OF FIGURES

Sl. No. FIGURES Pg. No.

1. Figure 1.1 2

2. Figure 1.2 2
3. Figure 1.3 3
4. Figure 1.4 4

5. Figure 1.5 4
6. Figure 1.6 6
7. Figure 1.7 7

8 Figure 1.8 8
9 Figure 1.9 9

10 Figure 1.10 10
11 Figure 1.11 10
12 Figure 2.1 11
13 Figure 2.2 12
14 Figure 2.3 13
15 Figure 2.4 14
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16 Figure 2.5 15

17 Figure 2.6 15

18 Figure 2.7 16
19 Figure 2.8 17

20 Figure 2.9 18
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CHAPTER 1: COMPONENTS
INTRODUCTION

Various electronic and mechanical components are required for making the project.
The components used are listed below –

1. Motor Driver
2. DC Motor
3. Microcontroller
4. Sensor
5. Bluetooth Module
6. Battery
7. Wheels
8. Chassis

1.1 MOTOR DRIVER

A L293D motor driver is used in the project. L293D is a dual H-bridge motor
driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a
low-current control signal and provide a higher-current signal. This higher current signal
is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of
operation, two DC motors can be driven simultaneously, both in forward and reverse
direction. The motor operations of two motors can be controlled by input logic at pins 2
& 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and
10 will rotate it in clockwise and anticlockwise directions, respectively.

Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to
start operating. When an enable input is high, the associated driver gets enabled. As a
result, the outputs become active and work in phase with their inputs. Similarly, when the
enable input is low, that driver is disabled, and their outputs are off and in the high-
impedance state.
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FIG.1.1
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FIG.1.2

1.2 DC MOTOR

Two 12V, 1A DC motors are used for driving the wheels of the project. These
motors are connected to the motor driver in the circuit.

FIG.1.3

1.3 MICROCONTROLLER

An Arduino Uno microcontroller chip is used in the project. Arduino Uno is a

microcontroller board based on the ATmega328P (datasheet). It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz
quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It
contains everything needed to support the microcontroller.
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FIG.1.4

FIG.1.5
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1.4 ULTRASONIC SENSOR

An HC-SR04 ultrasonic sensor is used. It is attached to the front of the model for
the detection of obstacles in the trajectory.

The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like
bats do. It offers excellent non-contact range detection with high accuracy and stable
readings in an easy-to-use package. From 2cm to 400 cm or 1” to 13 feet. Its operation is
not affected by sunlight or black material like Sharp rangefinders are (although
acoustically soft materials like cloth can be difficult to detect). It comes complete with
ultrasonic transmitter and receiver module.

1.4.1 Features
 Power Supply: +5V DC
 Quiescent Current: <2mA
 Working Current: 15mA
 Effectual Angle: <15°
 Ranging Distance: 2cm – 400 cm/1″ – 13ft
 Resolution: 0.3 cm
 Measuring Angle: 30 degree
 Trigger Input Pulse width: 10uS
 Dimension: 45mm x 20mm x 15mm
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1.4.2 Ultrasonic Sensor

FIG.1.6

1.4.2.1 Pins

VCC: +5VDC

Trig: Trigger (INPUT)

Echo: Echo (OUTPUT)

GND: GND
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1.4.3 Schematic

FIG.1.7

1.5 BLUETOOTH MODULE

A HC-05 Bluetooth Module is used. HC‐05 module is an easy to use Bluetooth

SPP (Serial Port Protocol) module, designed for transparent wireless serial connection
setup. The HC-05 Bluetooth Module can be used in a Master or Slave configuration,
making it a great solution for wireless communication. This serial port Bluetooth module
is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with
complete 2.4GHz radio transceiver and baseband. It uses CSR Blue core 04‐External
single chip Bluetooth system with CMOS technology and with AFH (Adaptive
Frequency Hopping Feature).
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FIG.1.8

1.5.1 Hardware Features

 Typical ‐80dBm sensitivity.

 Up to +4dBm RF transmit power.
 3.3 to 5 V I/O.
 PIO (Programmable Input/Output) control.
 UART interface with programmable baud rate.
 With integrated antenna.
 With edge connector.

1.5.2 Software Features

 Slave default Baud rate: 9600, Data bits: 8, Stop bit: 1, Parity: No parity.
 Auto‐connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto‐pairing PINCODE:”1234” as default.
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1.5.3 PIN description

The HC-05 Bluetooth Module has 6pins. They are as follows:
ENABLE: When enable is pulled LOW, the module is disabled which means the module
will not turn on and it fails to communicate. When enable is left open or connected to
3.3V, the module is enabled i.e. the module remains on and communication also takes
place.
Vcc: Supply Voltage 3.3V to 5V
GND: Ground pin
TXD & RXD: These two pins acts as an UART interface for communication
STATE: It acts as a status indicator. When the module is not connected to / paired with
any other Bluetooth device, signal goes Low. At this low state, the led flashes
continuously which denotes that the module is not paired with other device. When this
module is connected to/paired with any other Bluetooth device, the signal goes high. At
this high state, the led blinks with a constant delay say for example 2s delay which
indicates that the module is paired.
BUTTON SWITCH: This is used to switch the module into AT command mode. To
enable AT command mode, press the button switch for a second. With the help of AT
commands, the user can change the parameters of this module but only when the module
is not paired with any other BT device. If the module is connected to any other Bluetooth
device, it starts to communicate with that device and fails to work in AT command mode.

1.6 BATTERIES
A single 12V battery is used for powering the motors.
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FIG.1.9
1.7 WHEELS
One castor wheel in front is used for all direction movement and two wheels of
diameter 10cm are used at the back for rotation of the chassis.

FIG.1.10
1.8 CHASSIS
A plastic box is used as the chassis for the entire project. All the components are
fitted in it.
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FIG.1.11

CHAPTER 2: MAKING THE MODEL

INTRODUCTION
After gathering all the materials and tools required for making the project, they are
fitted into the chassis. All the connections are made using connecting wires and the parts
are fit into the chassis suing tape.

2.1 MAKING THE CHASSIS

Two holes of equal diameters are drilled into the chassis on both sides, in same
corresponding positions at the rear. The shaft for the wheels is put through these holes.

FIG.2.1
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2.2 CONNECTING THE BATTERY

The 12V battery is connected to the L293D motor driver. The positive terminal of the
battery is connected to Vcc 2 which is pin number 8 of the motor driver and negative
terminal is connected to the GND of pin number 12.

FIG.2.2
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2.3 CONNECTING ARDUINO WITH L293D MOTOR DRIVER

The Arduino pin 8 is connected to 10th of L293Ḍ. The 9th pin of Arduino is
connected to the 15th pin, the 10th pin is connected to the 2nd pin, and the 11th to the 7th
pin of the L293D respectively.

FIG.2.3
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2.4 CONNECTING THE MOTORS TO L293D MOTOR DRIVEṚ

Pin 11 and Pin 14 of the L293D is connected to the first motor and Pin 3 and Pin 6
are connected to the second motor. The rating of the motor should be less than or equal to
100 RPM for the motor driver L293D to function safely.

FIG.2.4
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2.5 CONNECTIONS WITH ULTRASONIC SENSOR

The ultrasonic sensor HC-SR05 is connected to both the Arduino Uno board and
the L293D motor driver.

FIG.2.5
2.5.1 Connections with Arduino Uno
The Echo pin of the HC-SR05 is connected to the 7th pin and the TRIGGER pin is
connected to the 6th pin of the Arduino Uno board respectively.

FIG.2.6
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2.5.2 Connections with L293D motor driver

The GND of HC-SR05 is connected to the common GND in L293Ḍ motor driver.
2.5.3 Connections with IC board
The +5v of the HC-SR05 ultrasonic sensor is connected to a common point in the
IC board to which the common supply is connected.

2.6 CONNECTIONS WITH BLUETOOTH MODULE

The Bluetooth has for outgoing connections. Two are with the Arduino Uno board, one
with the L293D motor driver and one with the IC board.

FIG.2.7
2.6.1 Connections with Arduino Uno
The RXD of HC05 Bluetooth module is connected to the TX of the Arduino board
and the TXD of HC05 is connected to the RX of Arduino board.
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2.6.2 Connections with L293D motor driver

The GND of the Bluetooth module is connected to the common GND in L293D
motor driver.

2.6.3 Connections with IC board

The 3.3V pin of the HC05 is connected to the IC board where the common supply is
given.

FIG.2.8
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CHAPTER 3: WORKING
INTRODUCTION
The smart wheelchair is an obstacle avoiding wheelchair which can also be controlled via
Bluetooth. The project is a prototype of a smart wheelchair where a box has been used as
the chassis. Its chosen because its cheap and relatively durable and easily available in the
market. Two holes were made on both ends of the box to fit the dc motors, each of rating
100 rpm. The dc motors were chosen as the project had to be independently moving with
the help of a dc battery.

3.1 The Arduino Board

An Arduino board has been used to control the smart wheelchair as it is convenient
and user friendly. Its software is based on IDE (integrated development environment). As
it is open source there is a lot of independence in creating projects our own way. It is also
similar to C++.The codes for the working of individual components were written and at a
later stage all the codes were combined according to our convenience. i.e. assigned key
numbers of the Arduino for the different components. This board basically acts like a
brain of the entire system where the Bluetooth module, ultrasonic sensor and the L293d
motor driver are connected. The software is imported to the board from where all the
components get the information serially. First the Bluetooth module then the motors via
the L293d and then the ultrasonic sensor.

3.2 The 12 Volt Battery

A 12-volt battery is used as the output is pretty decent for a rough working model. It
gives the source to the Arduino board via the L293d board. The power source can’t be
supplied directly as the maximum voltage an Arduino can take is 5 v. So the input power
is given to the L293d motor driver which gives the supply to the Arduino. Therefore, a
regulated supply is obtained at the Arduino’s end. The 12 v battery is good enough to
energize the motors. In case motors of higher rating are chosen then there is a chance that
the device be ruptured as the motor produces quite a huge amount of back emf.

3.3 The L293d motor driver

The motor driver L293d controls the 2 dc motors each of 100 rpm. One set of
terminals of the motor are connected to pin nos. 3 and 6 and the other set of terminals of
the motor are connected to 11 and 14. These are the output terminals of the L293d. The
input of the L293d is given by the assigned keys of the Arduino, the 8th,9th,10th and 11th
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pins of the Arduino gets connected to the 2nd,7th,10th and 15th pins of the L293d.Therefore
the input control comes from the Arduino board and the output is given to the motors. If
the logic states 00 00, then the motor stops. If it states 10 10 then the motors move in the
forward direction. If the logic states 01 01, then the motors move backward. If the logic is
11 00 then is turns left and if the logic states 00 11 then the motor turns right. This way
the wheelchair gets its directions.

3.4The Bluetooth module

The blue tooth module is used so that the wheelchair can be moved using an android
phone. No physical force is required to move the wheelchair. In our model an HC-05
Bluetooth module has been used. It’s one of the most popular in its types as it has a
simplistic design. Just 4 assigns namely RX, TX, +Vcc, Gnd.The module used by us has
a capability of taking voltage in the range 3.3 v to 6 v. As a result, it can be directly
connected to the Arduino board. The RX has to be connected to the TX of the Arduino
board and the TX of the module has to be connected to the RX of the board. We just have
to keep in mind that the RX and TX wires be removed while uploading the program.
After the program is uploaded the RX and TX wires have to be connected as per the
connections told above. Using an android phone an app. has to be installed called the
“BLUETOOTH CONTROLLER”. It is the easiest way to control the module. The
assigned keys have to be assigned in the controller app. again. We can change it
according to our wish. At three places the assigned values can be changed. Either by
changing the terminals of the motor, by changing the assigned values in the code or in the
Bluetooth controller app.

3.5 The HC-SR04 Ultrasonic Sensor

The ultrasonic sensor has a vital role to play in the smart wheelchair. According to the
program the ultrasonic sensor has been ordered to stop after it detects an obstacle at a
range of 2ft.The sensor has 4 parts . The +Vcc pin, the trigger pin, the echo pin and the
ground pin. The trigger pin assigned in our program is 6 of the Arduino board. When it
detects an object at a distance within 2ft in front of it, it indicates high or 1. Basically the
trigger pin always has the logic “1” and the echo is usually logic “0”. But when an object
is detected at around 2ft. the echo is denoted as high or logic “1”. The echo pin has been
designated pin no. 7. The smart wheelchair could have been made more sensitive by
placing ultrasonic sensors on all the sides. But then again our program would be a bit
more complicated. The range of the sensor can be changed according to our requirement.
In our project the range has been taken small as the area of operation is also small.
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3.6 The Common Ground

The common ground has been taken on the IC board where the L293d is attached.
The connections after being done according to the assigned key nos., there lies a problem
of common ground. As the Arduino has 2 ground assigns it is not enough to give the
common ground to all the components. So, the ground connections of the L293d are
utilized. There are a total of 4 ground connections on the motor driver IC. Therefore, all
the connections are grounded on the IC board. Whether it be the Bluetooth module or the
ultrasonic sensor or the L293d.Same goes with the +Vcc supply line. It has also been
taken from the Arduino board and extended to the IC board. From here all the
connections for the respective supplies are taken. As space for common ground is quite
appreciable there are less chances of wires coming out loose.

3.7 Source Code

#include <AFMotor.h>
#define trigPin 13 // define the pins of your sensor
#define echoPin 12

//Objects
AF_DCMotor motorRight(4, MOTOR12_64KHZ); // create motor #1, 64KHz pwm
AF_DCMotor motorLeft(3, MOTOR12_64KHZ); // create motor #3, 64KHz pwm

//Constants and variable

char dataIn = 'S';
char determinant;
char det;
int vel = 255; //Bluetooth Stuff

void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps
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pinMode(trigPin, OUTPUT); // set the trig pin to output (Send sound waves)
pinMode(echoPin, INPUT); // set the echo pin to input (recieve sound waves)

//Initalization messages
Serial.println(" Wheelchair");
Serial.println(" Reday for working!");

//turn off motors

motorRight.setSpeed(0);
motorLeft.setSpeed(0);
motorRight.run(RELEASE);
motorLeft.run(RELEASE);
}

void loop()
{
det = check(); //call check() subrotine to get the serial code
switch (det) //serial code analysis
{
case 'F': // F, move forward
motorRight.setSpeed(vel);
motorLeft.setSpeed(vel);
motorRight.run(FORWARD);
motorLeft.run(FORWARD);
det = check();
break;
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case 'B': // B, move back

motorRight.setSpeed(vel);
motorLeft.setSpeed(vel);
motorRight.run(BACKWARD);
motorLeft.run(BACKWARD);
det = check();
break;

case 'L':// L, move wheels left

motorRight.setSpeed(vel);
motorLeft.setSpeed(vel/4);
motorRight.run(FORWARD);
motorLeft.run(FORWARD);
det = check();
break;

case 'R': // R, move wheels right

motorRight.setSpeed(vel/4);
motorLeft.setSpeed(vel);
motorRight.run(FORWARD);
motorLeft.run(FORWARD);
det = check();
break;

case 'I': // I, turn right forward

motorRight.setSpeed(vel/2);
motorLeft.setSpeed(vel);
motorRight.run(FORWARD);
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motorLeft.run(FORWARD);
det = check();
break;

case 'J': // J, turn right back

motorRight.setSpeed(vel/2);
motorLeft.setSpeed(vel);
motorRight.run(BACKWARD);
motorLeft.run(BACKWARD);
det = check();
break;

case 'G': // G, turn left forward

motorRight.setSpeed(vel);
motorLeft.setSpeed(vel/2);
motorRight.run(FORWARD);
motorLeft.run(FORWARD);
det = check();
break;

case 'H': // H, turn left back

motorRight.setSpeed(vel);
motorLeft.setSpeed(vel/2);
motorRight.run(BACKWARD);
motorLeft.run(BACKWARD);
det = check();
break;
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case 'S':
// S, stop
motorRight.setSpeed(vel);
motorLeft.setSpeed(vel);
motorRight.run(RELEASE);
motorLeft.run(RELEASE);
det = check();
break;

case 'm':

//for wall follower robot.

motorRight.setSpeed(vel); //set the speed of the motors, between 0-255
motorLeft.setSpeed (vel);

long duration, distance; // start the scan

digitalWrite(trigPin, LOW);
delayMicroseconds(2); // delays are required for a successful sensor operation.
digitalWrite(trigPin, HIGH);

delayMicroseconds(10); //this delay is required as well!

digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1; // convert the distance to centimeters.
if (distance < 60)/*The distance that need to to keep with the wall */
{
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Serial.println ("Wall is detected!" );

Serial.println (" Started following the wall ");
Serial.println (" Turning!");
motorRight.setSpeed(vel);
motorLeft.setSpeed(0);
motorRight.run(FORWARD);
motorLeft.run(RELEASE);
delay(500);
}

else {
Serial.println ("No Wall detected. turning round");
delay (15);
motorRight.setSpeed(0);
motorLeft.setSpeed(vel);
motorRight.run(RELEASE);
motorLeft.run (FORWARD);

}
break;

case 'b':
//obstacle avoider robot

motorRight.setSpeed(vel); //set the speed of the motors, between 0-255

motorLeft.setSpeed (vel);

long Aduration, Adistance; // start the scan

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digitalWrite(trigPin, LOW);
delayMicroseconds(2); // delays are required for a successful sensor operation.
digitalWrite(trigPin, HIGH);

delayMicroseconds(10); //this delay is required as well!

digitalWrite(trigPin, LOW);
Aduration = pulseIn(echoPin, HIGH);
Adistance = (Aduration/2) / 29.1; // convert the distance to centimeters.
if (Adistance < 25)/*if there's an obstacle 25 centimers, ahead, do the following: */
{
Serial.println ("Close Obstacle detected!" );
Serial.println ("Obstacle Details:");
Serial.print ("Distance From Robot is " );
Serial.print ( Adistance);
Serial.print ( " CM!"); // print out the distance in centimeters.

Serial.println (" The obstacle is declared a threat due to close distance. ");
Serial.println (" Turning !");
motorRight.setSpeed(vel);
motorLeft.setSpeed(vel);
motorLeft.run(BACKWARD); // Turn as long as there's an obstacle ahead.
motorRight.run (FORWARD);

}
else {
Serial.println ("No obstacle detected. going forward");
delay (15);
motorRight.setSpeed(vel);
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motorLeft.setSpeed(vel);
motorRight.run(FORWARD); //if there's no obstacle ahead, Go Forward!
motorLeft.run(FORWARD);

}
break;
}
}

//get bluetooth code received from serial port

int check()
{
if (Serial.available() > 0) // if there is valid data in the serial port
{
dataIn = Serial.read(); // stores data into a varialbe

//check the code

if (dataIn == 'F'){//Forward
determinant = 'F';
}
else if (dataIn == 'B'){//Backward
determinant = 'B';
}
else if (dataIn == 'L'){//Left
determinant = 'L';
}
else if (dataIn == 'R'){//Right
determinant = 'R';
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}
else if (dataIn == 'I'){//Froward Right
determinant = 'I';
}
else if (dataIn == 'J'){//Backward Right
determinant = 'J';
}
else if (dataIn == 'G'){//Forward Left
determinant = 'G';
}
else if (dataIn == 'H'){//Backward Left
determinant = 'H';
}
else if (dataIn == 'S'){//Stop
determinant = 'S';
}
else if (dataIn == '0'){//Speed 0
vel = 0;
}
else if (dataIn == '1'){//Speed 25
vel = 25;
}
else if (dataIn == '2'){//Speed 50
vel = 50;
}
else if (dataIn == '3'){//Speed 75
vel = 75;
}
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else if (dataIn == '4'){//Speed 100

vel = 100;
}
else if (dataIn == '5'){//Speed 125
vel = 125;
}
else if (dataIn == '6'){//Speed 150
vel = 150;
}
else if (dataIn == '7'){//Speed 175
vel = 175;
}
else if (dataIn == '8'){//Speed 200
vel = 200;
}
else if (dataIn == '9'){//Speed 225
vel = 225;
}
else if (dataIn == 'b'){//Extra On
determinant = 'b';
}
else if (dataIn == 'm'){//Extra On
determinant = 'm';
}

}
return determinant;
}
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FUTURE ADVANCEMENTS

A brainwave sensor may also be used. This makes the control and maneuvering a lot
easier. However, significant costs are incurred.
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REFERNCES

Book References
 Getting started with Arduino-Massimo Banzi
 Arduino Workshop- John Boxall
 Arduino Cookbook-Michael Margolis

Web References

 https://www.instructables.com
 https://www.playground.arduino.cc
 https://en.www.wikipedia.org/wiki/Arduino
 https://www.create.arduino.cc
 https://www.adafruit.com/arduino