Team Members:

17BEC0051 - NITHIN THOTA

17BEC0063 - K.V.S. GOURANGA
17BEC0204 - S. VIKAS REDDY
17BEC0257 - G. YASWANTH

Report submitted for the

Final Project Review of:

OBSTACLE AVOIDANCE VOICE CONTROLLED

ROBOTIC VEHICLE

Course Code: ECE 2010 – CONTROL SYSTEMS

Slot: F1+TF1
Professor: RAJESH R

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Table of contents:

S.no. Title Page no.

1 Abstract 3
2 Introduction 3
2.1. Our work 4
3 System model
3.1. Circuit diagram in proteus and 5
hardware
3.2. Hardware Components 6
3.3. Description of the components 7
4 Methodology 10
4.1. Commands description 11
5 Results and description 11
5.1. Hardware implementation 11
5.2. Hardware connections 12
5.3. Snapshots with figure description and 14
inference
6 Conclusion 18
7 References 18

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Abstract:
This work is mainly based on Arduino, Motor driver and Bluetooth
module. Arduino is an open- source prototyping platform which is based
on easy-to-use hardware and software. Arduino makes use of an
ATmega328 microcontroller. Robotics has become a major part in our day
to day life and also it plays a vital role in the development of new
technology in the engineering field. This is a simple type of remote control
car, where the ordinary micro-controller has been replaced by Arduino
and the IR sensors have been replaced by the Bluetooth module. The
remote device to control this device can be any android or IOS mobile
phone. And in this we have also included the ultrasonic sensor which
detects any obstacle is present in front, if any it stops the car. This project
can be made use on a large scale for real time vehicles.

2.INTRODUCTION:
Voice controlled robotic system is very beneficial in areas where
there is high risk for humans to enter. Voice controlled robotic system is
controlled through voice commands received via android device. The
integration of control unit with Bluetooth device is achieved using a
Bluetooth module to capture and read the voice commands. The robotic
vehicle operates as per the command received via android device, for this
Arduino is integrated in the system. The controlling device may be any
smart phone having an Android OS. The transmitter uses an android
application required for transmitting the data. The receiver end reads these
commands and interprets them into controlling the robotic vehicle. The
android device sends commands to move the vehicle in forward,
backward, right and left directions. After receiving the commands,
Arduino operates the motors in order to move the vehicle in four
directions. The communication between android device and receiver is
sent as serial communication data. Arduino program is designed to move
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the motor through a motor driver circuit as per the commands sent by
android device
2.1. OUR WORK:
This project is controlling car not by using sensor or transmitter but
by using Bluetooth which is a very simple medium of communication in
the present day. The remote device which controls in this project is an
android device which has an inbuilt Bluetooth module. Through
Bluetooth we can connect two devices. Here we have inserted a Bluetooth
module which gets connected to the phone‘s Bluetooth, that allows us to
communicate and allows to take control over it. The main control of the
car is played by the Arduino UNO which is the micro-controller
ATMEGA32. Arduino has played a major role in the robotic section and
it had made it easier to convert digital and analog signal to physical
movements. This project is Bluetooth based because it gives us wider
range of control and more efficiency. It also gives us the advantage of
changing the remote anytime, so that we can use any android devices
including phones, tablets, computers. Physical barriers like walls, doors
does not effect in controlling the car. We have also included the ultrasonic
sensor which helps the bot to stop automatically when any obstacle is
present before it. An obstacle detector is added to protect the system from
obstacles on the way by using an ultrasonic sensor which is mounted on
the servo motor.

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3.1. Circuit Diagram: PROTEUS

Fig1: circuit diagram in proteus without the ultrasonic sensor

Circuit in Hardware:

Fig2: hardware implementation of the circuit diagram including ultrasonic sensor

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3.2. Hardware components:

• Arduino UNO
• Motor shield
• Ultrasonic Sensor
• Bluetooth Module (HC-05)
• Servo Motor
• Jumper Wires
• Bo Motor 300 rpm
• Car Kit

WHY ARDUINO?
•We have used Arduino because it is an open source device that can be
programmed through the operating system like Windows, Mac, Linux,
etc.
•The language used is understandable and easy.
•Arduino can be used by beginner in robotics to professionals.
•Modification of the program is easy.

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3.3. Description of the components:
• Power Supply: A power supply component is an electronic
component that supplies electric energy to an electrical load. The
primary function of a power supply is to convert electrical energy to
another form and due to this, power supplies are sometimes referred
to as electric power converters.

• Bluetooth module: It is wireless serial communication module

which can be connected with a Micro-Controller to receive and send
data when connected with other Bluetooth devices.

• Arduino-UNO: Arduino is an open-source prototyping platform

based on hardware and software. Arduino consists of both a physical
programmable circuit board and software, IDE (Integrated
Development Environment) that runs on your computer, used to
write and upload computer code to the physical board. It has 14
digital input/output pins (6 of which can be used as PWM outputs),
6 as analog inputs, a 16 MHz quartz crystal, a USB connection, a
power jack, an ICSP header and a reset button

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• Motor driver: It is a small circuit that drives the motor driving IC,
and can control two motors at the same time. It controls the motor
speed by pulse width modulation (PMW). Once the device is all set
up the Android Device require an application called ―CAR
BLUETOOTH RC which sends the control command to the
Bluetooth Module connected with the Arduino. The Arduino
receives these commands and transfers them to the Motor Driver
from the digital input-output pins of the Arduino. The motor driver
has two DC motor connected to the output terminals and it runs the
two motor according to the control commands sent by the Arduino.
The motor driver can run a single motor or both the motor at the
same time in same or different direction which gives the user an
advantage to run the motor in any direction.
Motor driver is a double H bridge drive chip - L298N with
voltage range of 5V-35V and current range of 0-36mA. Maximum
power consumption is 25W, a built-in 5v power supply, when the
driving voltage is 7v-35v

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• Ultrasonic Sensor: Ultrasonic sensors “are based on the
measurement of the properties of acoustic waves with frequencies
above the human audible range,” often at roughly 40kHz. They
typically operate by generating a high-frequency pulse of sound, and
then receiving and evaluating the properties of the echo pulse.
Sensors calculate the time interval between sending the signal and
receiving the echo to determine the distance to an object.
The Ultrasonic sensor is mounted on servomotor which
provides desired rotation to sensor to increase range of sensor
which is connected to Arduino UNO board

• Servo Motor: A servomotor is a rotary actuator or linear actuator

that allows for precise control of angular or linear 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.

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4.Methodology:

As show in the diagram, two rechargeable batteries as the power

supply is used that is connected to motor driver and Arduino respectively.
When the circuit is energized, first we will have to pair the android phone
with the Bluetooth module through the mobile’s Bluetooth setting the
default password of the Bluetooth module will be ‘1234’. Once the phone
gets paired open the application ‘CAR BLUETOOTH RC’ which we can
download from Google play store. After opening the application there will
be set of control displayed on the screen. If the device has not been
connected the control will be locked meaning the control buttons cannot
be pressed. When the car is at its initial position the application
automatically sends the command S meaning stop. The stop command is
put in a loop that keeps on repeating throughout the execution of the
program. As the user presses any control buttons the stop command will
be interrupted by the move forward, backward, right, left, depending on
the user and the car moves like wise. The program is designed in such a
manner that we can also give multiple commands at the same time i.e.
move front and turn right or left and same with the backward motion. The
Arduino also stores the program in its memory so it does not require re-
uploading of Program.
The IN1, IN2, IN3 and IN4 are the inputs for the motor driver that
receives command from the Arduino for the two motors respectively. The
motor driver should be grounded with the Arduino ground pin (GND).
The motor driver will require minimum of 6v and above to run, any
voltage below 6v the motor remains off. The RXD pin of the Bluetooth
module is for receiving commands from the Android devices and sends to
Arduino through this pin and the TXD is for transmitting or sending dates
or information. It is supplied with a 5v dc source from the Arduino 5v pin.
The main part of the above circuit diagram is Arduino UNO. The power
supply section is very important. It should provide constant voltage to the
devices for successful working of the project.

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4.1. Commands description:

5. Results and description:

5.1. Hardware Implementation:

Fig3: hardware implementation of the circuit diagram including ultrasonic sensor

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5.2. Hardware connections:

H bridge module connection to Arduino:

Gnd to Gnd

5v to 5v pin on Arduino

Left Motor + to Arduino 6 pin

Left Motor - to Arduino 5 pin

Right Motor + to Arduino 10 pin

Right Motor - to Arduino 9 pin

Bluetooth module to Arduino:

Vcc to 5v

Gnd to Gnd

Tx to Rx

Rx to Tx

State to A0 pin

Servo Connection:
Vcc to Arduino 5v pin

Gnd to Gnd

Signal Pin to Arduino 7 pin

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Ultrasonic Sensor Connection :
Vcc to 5v

Gnd to Gnd

Tring to Arduino 3 pin

Echo to Arduino 2 pin

5.3. Snapshots with figure description and inference:

Case 1:

Fig4: Snapshot in proteus after sending command F to move car forward

INFERENCE: When we send the command F in our phone app or virtual

terminal after pairing our phone with the Bluetooth module, then the motor driver
receives command from the Arduino for the two motors to move in forward direction

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Case 2:

Fig5: Snapshot in proteus after sending command B to move car Backward

INFERENCE: When we send the command B in our phone app or

virtual terminal after pairing our phone with the Bluetooth module, then
the motor driver receives the command from the Arduino for the two
motors to move in Backward direction

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Case 3:

Fig6: Snapshot in proteus after sending command L to move car Left

INFERENCE: When we send the command L in our phone app or

virtual terminal after pairing our phone with the Bluetooth module, then
the motor driver receives the command from the Arduino for the right
motor to move in forward direction and left motor to move in backward
direction.

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Case 4:

Fig7: Snapshot in proteus after sending command R to move car right

INFERENCE: When we send the command R in our phone app or

virtual terminal after pairing our phone with the Bluetooth module, then
the motor driver receives the command from the Arduino for the right
motor to move in Backward direction and left motor to move in Forward
direction.

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Case 5:

Fig5: Snapshot in proteus after sending command S to stop car

INFERENCE: When we send the command B in our phone app or

virtual terminal after pairing our phone with the Bluetooth module, then
the motor driver receives command from the Arduino for the two motors
to stop.

ARDUINO CODE:
https://drive.google.com/open?id=1DfJUpiXE1sAbOjvIzn1E18shdN98
DdXJ
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6. CONCLUSION:
The voice controlling commands are successfully transmitted via
Bluetooth technology and on reception; the desired operations
successfully take place. This project reduces human efforts at places or
situations where human interventions are difficult. Such systems can be
brought into use at places such as industries, military and defense,
research purposes, etc.

7.REFERENCES
[1] International Journal of New Technology and Research (IJNTR)
ISSN: 2454-4116, Volume-3, Issue-4, April 2017 Pages 92-94
[2] https://www.instructables.com/id/Voice-Control-Obstacle-
Avoidance-Arduino-Robot-Car/
[3] https://electronicsforu.com/electronics-projects/voice-controlled-
robotic-car
[4] http://www.amazon.in/Campus-Component-Bluetooth-Chip-HC/
[5] https://www.google.co.in/motordriverL298N/
[6] https://www.google.co.in/ultrasonicsensor/
[7] https://www.google.co.in/servomotor/
[8] https://www.instructables.com/id/Autonomous-controlled car/
[9] https://www.google.co.in/arduinouno/

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