MINOR PROJECT IN MATERIAL SCIENCE

BRANCH
ROBOTICS AND AUTOMATION
SEMESTER – 2
PROJECT TITLE
OBSATCLE AVOIDING , BLUETOOTH
CONTROLLED,VOICE CONTROLLED ROBOT
SUBMITTED BY
Nithish S 310622125036

Sambhavi K 3106222125043

Ilaya raja G 310622125017

Easwari Engineering College

(Autonomous)
Ramapuram Campus
Chennai-600089,Tamil Nadu
11 JULY 2023
CONTENTS
1.INTRODUCTION
2.ARDUINO SOFTWARE
3.OBSTACLE AVOIDANCE
4.BLUETOOTH CONTROLLED
5.VOICE CONTROLLED
6.COMPONENTS USED IN
● ARDUINO UNO BOARD
● L293D MOTOR DRIVER
● SERVO MOTOR
● 4 WHEEL CHASIS
● BLUETOOTH MODULE
● LI ION BATTERY
● BATTERY HOLDER
● GEAR MOTOR
7.CODE
8.OUTPUT
9.REFERENCE
VOICE CONTROL OBSTACLE AVOIDING
AND BLUETOOTH CONTROLLED ROBOT

INTRODUCTION

In this multifunctional robot is made using Arduino.

This includes obstacle avoiding, Bluetooth control, voice
control functions.

ARDUINO SOFTWARE

The open-source Arduino Software (IDE) makes it

easy to write code and upload it to the board. This
software can be used with any Arduino board.

GOAL

The goal of Arduino is to create an accessible way

for software developers to enter the world of
microcontroller programming.

PURPOSE OF ARDUINO ROBOT

Arduino is a micro-controller. This small computer

is used as the brain of the robot. It can be programmed
to control the way buttons, motors, switches, lights, and
other electronic parts work together.
BENEFITS OF ARDUINO ROBOT

Arduino is important part in robotics because it

provides creativity and problem-solving. It is plugged in
the computer and programmed with easy commands
i.e.; when Arduino is placed in a circuit, and it will
manipulate the functioning of the device. It emphasizes
the involvement of Arduino in many things around the
involvement of Arduino in many things around

OBSTACLE AVOIDANCE

An Obstacle Avoidance Robot is an intelligent robot,

which can automatically sense and overcome obstacles
on its path. It contains Arduino to process the data, and
Ultrasonic sensors to detect the obstacles on its path.
Obstacle avoidance is one of the most important aspects
of mobile robotics.
SENSOR

An obstacle detection system uses ultrasonic

sensors

OTHER SENSORS USES

Some sensing devices used for obstacle detection like

bump sensors, infrared sensors, ultrasonic sensors, etc

IMPORTANCE

Obstacle avoidance is a safety feature found in more

advanced drones, including many DJI drones

DIFFERENT TYPES

Obstacle avoidance can be classified in two sub

stages called obstacle detection and collision avoidance.
PARTS

It consists of two sections: an obstacle detection

section and a mapping section.

WORKING PRINCIPLE

An obstacle detection system uses ultrasonic sensors

mounted on the front and/or rear bumpers

USES

The obstacle avoiding robot directs itself whenever an

obstacle comes in its path
BENEFITS

Obstacle detection helps in identifying the hidden

dangers of the blind spots

TECHNOLOGY USED

The primary navigation sensor that most AMRs use

is LiDAR— a laser that's able to detect objects out to a
distance of several tens of meters, usually with a very
wide field of view.

ADVANTAGES

Obstacle avoiding robots can be used in almost all

mobile robot navigation systems.

DISADVANTAGES

A disadvantage with obstacle avoidance based on

edge detecting is the need of the robot to stop in front
of an obstacle in order to provide a more accurate
measurement

BLUETOOTH CONTROLLED

Bluetooth controlled Robot is controlled by using

Android mobile phone instead of any other method like
buttons, gesture etc. Here only needs to touch button in
android phone to control the Robot in forward,
backward, left and right directions.
PURPOSE OF BLUETOOTH SENSOR

A Bluetooth Vibration Sensor is an Accelerometer

capable of recording vibration data and transfer it to a
receiver using Bluetooth standard protocol.

.PRINCIPLE

Command received through Bluetooth is forwarded to

Arduino Uno board using UART serial communication
protocol. Arduino code checks the commands received.

USES

User can use various commands like move forward,

reverse, stop move left, and move right
PURPOSE

Bluetooth Rc app is used to send the signals and to

receive signals in between Smartphone and Arduino
hardware. Here Arduino acts as main controller of the
device which receives signal or commands and sends
these commands to motors and motor drivers to
perform a particular task.

BENEFITS

The robot can move forward, backward, left, and

right and can also be stopped. The Arduino's Bluetooth-
controlled robot is interfaced with a Bluetooth module
HC-05 or HC-06.

ADVANTAGES

The primary advantage of Bluetooth-based

technology is that the remote can be changed at any
moment – smartphones, tablets, and laptops – and
physical barriers such as walls and doors have no effect
on the automobile controls Keywords: Bluetooth Control,
Arduino UNO, Personal Area Networks, Wireless LAN

DISADVANTAGES

As the range of the Bluetooth Communication is

limited the control range of Bluetooth Controlled Robot
is also limited.
VOICE CONTROLLED

OBJECTIVE

The robot can move forward, backward, left, and

right and can also be stopped. The Arduino voice-
controlled robot is interfaced with a Bluetooth module
HC-05 or HC-06

APPLICATIONS

Some basic applications of robots utilizing voice

recognition are to support people with disability,
executing preset commands etc.
PRINCIPLE

This project Voice Controlled Robotic Vehicle helps to

control robot through voice commands received through
android application. .

GOAL

The goal of a Voice Controlled Robotic Vehicle is to

complete a task by listening to the user's commands.

AIM

At the receiver end the data gets decoded by the

receiver and is fed to the microcontroller which drives
the DC motors for the necessary work. The aim of Voice
Controlled Robotic Vehicle is to perform the required
task by listening to the commands of the user.

SENSORS USED

The Ultrasonic sensors are most suitable for obstacle

detection which are usually attached in front of the
Robot. Speech recognition is the ability of the machine
to receive and interpret the human voice

TECHNOLOGY USED

Driving mechanism of the pick-and-place robot.

Also, it has a servomotor that helps with the movement
of the arms.
ADVANTAGES

The advantages of speech activated robots are hands-

free and fast data input operations. The proposed robot
is capable of understanding the meaning of natural
language commands.

DISADVSANTAGES

Noisy environments, accents and multiple speakers

may degrade results. Also, regular voice recognition
software can lack integration with other key services

COMPONENTS USED
ARDUINO UNO BOARD

COMPONENTS OF ARDUINO

1.USB connector.

2.Power port.

3.Microcontroller.

4.Analog input pins.

5.Digital pins.

6.Reset switch.

7.Crystal oscillator.

USB interface chip

TYPES OF ARDUINO

There are various types of Arduino boards present in

the market that includes Arduino UNO, Red Board,
LilyPad Arduino, Arduino Mega, Arduino Leonardo. All
these Arduino boards are different in specifications,
features and uses and are used in different type of
electronics

FUNCTIONS OF ARDUINO

There are two required functions in an Arduino

sketch, setup() and loop(). Other functions must be
created outside the brackets of those two functions.
PINS IN ARDUINO

There are three main types of Arduino pins: digital

pins, analog pins and power pins.

AREF

AREF refers to Analog Reference. The AREF pin is

usually integrated in setting an external reference
voltage

GND

GND is the short form of ground. The Arduino UNO

PCB comes with several ground pins. Users can integrate
any of these pins to ground their circuit.

Digital

The Arduino UNO board comes with several digital

pins. These pins can tell if a button has been pushed.
They are ideal for both digital output and digital input

5V and 3.3V

The 5V pin supplies volts to the board. Basically, it

supplies 5 volts of power. On the other hand, the 3.3V
pin provides 3.3 volts.

PWM

The PWM pins function like normal digital pins. PWM

stands for pulse width modulation. However, you can
also use it for a Pulse-Width Modulation

L293D MOTOR DRIVER

 L293D motor Driver IC is an integrated circuit that can
drive two motors simultaneously and is usually used to
control the motors in an autonomous system . L293D is
a dual H-bridge motor driver IC

Enable 1,2

This pin enables the input pin Input 1(2) and Input
2(7)

Vcc2 (Vs)

Connected to Voltage pin for running motors (4.5V to

36V)

Enable 3,4

This pin enables the input pin Input 3(10) and Input
4(15)
Vcc2 (Vss)

Connected to +5V to enable IC function

SERVO MOTOR

servo motors are used to control its speed. When

stepping on the gas pedal, it sends electrical signals to
the car's computer.

3 MAIN COMPONENTS

Three core components: a DC motor, a controller

circuit, and a potentiometer or similar feedback
mechanism.

COMPONENTS

1.Housing

2.Motor shaft
3.Bearings

4.Rotor

5.Stator

6.Brake

7.Snap ring

8.O ring

9.Bearing keeper

10.Encoder

Housing

This part is a 1inch thick coated aluminum casing

that protects the inner workings of the servo motor from
extraneous contaminants

Motor shaft

It functions similarly to a prime mover, except that

the gearbox or belt and pulley system to which it is
connected can utilise that energy to boost the motor’s
torque .

Bearings

The motor might benefit from bearings since they

give great precision and minimal vibration.
Rotor

The rotor is normally attached to the motor’s shaft

and is held in position by two bearings. The rotor of the
motor rotates in the appropriate direction with the
specified voltage until the error is zero.

4 WHEEL CHASIS

COMPONENTS OF 4 WHEEL CHASIS

Engine

Engine produces power required to move the vehicle at

the desired speed, overcoming the external resistances.
This can be a SI engine or CI engine or gas engine.

Radiator

Radiator is a device used to re-cool the hot engine

cooling water for recirculation purpose.
Clutch

Clutch helps to isolate the engine from the transmission

system as and when required.

Gearbox

Gearbox provides the torque of the required amount at

the driving road wheels.

Universal Joints

Universal joints cum propeller shaft transmits the torque

from the gearbox shaft to the final drive.

Frame Support

Frame-supports the engine, vehicle body, wheels and

other components.

BLUE TOOTH MODULE

COMPONENTS OF A BLUETOOTH MODULE

HC-05 Bluetooth Module

HC-05 is a Bluetooth module which is designed for
wireless communication. This module can be used in a

master or slave configuration.

It has 6 pins,

1. Key/EN
It is used to bring Bluetooth module in AT
commands mode.
HC-05 module has two modes,

Data mode
Exchange of data between devices.
Command mode
It uses AT commands which are used
to change setting of HC-05. To send
these commands to module serial
(USART) port is used.

2.VCC

Connect 5 V or 3.3 V to this Pin

3.GND

Ground Pin of module.

6. State

It tells whether module is connected or not.

LI ION BATTERY

COMPONENTS OF LI ION BATTERY

Cathode

Determines the capacity and voltage of a Li-ion

battery

Anode

Sends electrons through a wire

Electrolyte

Allows the movement of ions only

Separator

The absolute barrier between cathode and anode

BATTERY HOLDERS

COMPONENTS

AA Battery Holders & Mounts

An AA size battery holder is one of the more common

types of battery storage compartments you’ll see on sale
from UK suppliers
FOR AAA CELLS

Battery holders for AAA cells, commonly referred to as

‘triple-A’ are another very common configuration

C Battery Holders and Mounts

C size battery holders are designed around the fairly

common C battery (sometimes known as an R14).

D Battery Holders and Mounts

D batteries are among the larger types of ‘everyday

use’ cells you’ll commonly encounter around the home
or workplace.

12V Battery Holders and Mounts

Battery holders for 12V cells are somewhat less widely

available, chiefly because the 12V standard incorporates
such a wide range of battery shapes and sizes

GEAR MOTORS
COMPONENTS OF GEAR MOTOR

Worm drive

This type of industrial gear motor is simpler, since it

transmits the motion of a worm wheel using an inline
worm screw along its shaft

Parallel shaft gear motor

Parallel shaft gear motors are composed
of pairs of the following types of gears:
Spur gears, which are the most common

Helical gears, which have a higher power and speed, but

are more silent

Double helical gears, also known as herringbone gears,

which eliminate axial thrust

Kinematic chain
A motor’s speed reducer is composed of a speed reducer
and its gears.

Gears
Gears are toothed wheels made of metal or plastic
MODEL

SOURCE CODE:

#include <Servo.h>

#include <AFMotor.h>

#define Echo A0

#define Trig A1

#define motor 10

#define Speed 170

#define spoint 103

char value;

int distance;

int Left;

int Right;
int L = 0;

int R = 0;

int L1 = 0;

int R1 = 0;

Servo servo;

AF_DCMotor M1(1);

AF_DCMotor M2(2);

AF_DCMotor M3(3);

AF_DCMotor M4(4);

void setup() {

Serial.begin(9600);

pinMode(Trig, OUTPUT);

pinMode(Echo, INPUT);

servo.attach(motor);

M1.setSpeed(Speed);

M2.setSpeed(Speed);

M3.setSpeed(Speed);

M4.setSpeed(Speed);

void loop() {

Obstacle();

Bluetoothcontrol();

voicecontrol();

stop()
REFERENCE

https://srituhobby.com/how-to-make-a-multi-function-
arduino-robot/

https://youtu.be/aE_J7B-O4VQ

https://youtube.com/watch?v=vY87Y1my93o&feature=s
hare8