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International Research Journal of Modernization in Engineering Technology and Science

( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:04/Issue:06/June-2022 Impact Factor- 6.752 www.irjmets.com
VOICE CONTROLLED AND OBSTACLE AVOIDANCE ROBOTIC
CAR USING MOBILE
Brahmandaberi Saketh*1, Beeram Meghana*2, Vaka Usha*3,
B. Giri Raju*4
*1,2,3Student, Electronics And Communication Engineering, ACE Engineering College,
Hyderabad, Telangana, India.
*4Professor, Department of Electronics And Communication Engineering, ACE
Engineering College, Hyderabad, Telangana, India.
ABSTRACT
The major principle of the robotic vehicle is to accept the user voice command and perform the given user task
and without the human presence specifically area can control the robot via user voice input. The robot can be
operated through user voice input it requires android app to communicate via Bluetooth HC-05 module.
Subsequently, the robotic vehicle can sense the things with the assistance of Ultrasonic sensor module. For the
hardware, customized Arduino will give the control over the motors that use to run the robotic vehicle.
Ultrasonic sensors interact with the Arduino help in automatic braking of a vehicle on sudden obstacle
detection. The obstacle avoidance robots are currently employed in dangerous areas where the human cannot
enter. It can easily recognize the voice.
Keywords: Android, NodeMCU, GPS Module, OLED, Latitude, Longitude Etc.
I. INTRODUCTION
The roots of foundation of robotics belong back in 1950s; more than six decades has passed since then, and
robotic evolution has been running unparalleled. Today we can feel the presence of robots everywhere and in
every field whether it is medical, military, education or governance and so on. Robotics has become a helping
hand for humans, and they are making our life easier, better and faster. Robotics is a boon for human kind,
because robotic machines are giving alternatives, which is providing a great support to physically impaired
people. This proposal focuses in the problems faced by specially abled people who wish to drive their vehicle on
their own but they cannot because of the natural cause. In this proposed project, the emphasis is on voice
control of robot with automatic braking, speed slow down and avoidance of obstacles automatically or
manually (through voice command).In this model, we will use an android app to pass on the voice commands to
the Arduino through Bluetooth communication using Bluetooth module. Ultrasonic sensor will act as the
obstacle detector, which will act as a mediator for Arduino microcontroller (or the CPU) and the proximal
environment, and it would eventually lead to slowing down the vehicle or to fully break its motion.
II. LITERATURE REVIEW
In 2003, Worldwide speculation in modern robots up 19%. In 2004, orders for robots were up another 18% to
the highest level ever recorded. Overall development in the period 2004-2007 conjecture at a normal yearly
pace of about 7%. More than 600,000 family unit robots being usedseveral millions in the next few years.
Various researches have been made by different researchers in developing this project. Be that as it may, they
serve an alternate application and have various innovations actualized. Some of those papers are mentioned
below stating their technology and application.
Robot Control Design Using Android Smartphone.
The motivation behind this paper is to furnish amazing computational android stages with less difficult robot
equipment design. This paper depicts how to control a robot utilizing portable through Bluetooth
communication, a few highlights about Bluetooth innovation, segments of the versatile and robot. It present an
audit of robots constrained by smart phone by means of moving the robot upward, reverse, left and right side
by the android application, for example, Arduino, Bluetooth Smart Phone Controlled Robot Using ATMEGA328
Microcontroller.
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III. METHODOLOGY
Install any Bluetooth Application for Arduino. Pair HC-05 Bluetooth module with the mobile Default password
is “1234” or “0000”.Click on the “MIC” icon and speak/instruct the robot .On speaking our speech gets
recognized and converted into text. That text is transferred using Bluetooth .The Bluetooth Module receives the
string, decodes it and compares it with the Instructions that are described in the program and moves the robot
in direction given by the user using mobile application.
Figure 1: Block Diagram Voice Controlled And Obstacle Avoidance Robotic Car
IV. THE HARDWARE
ARDUINO UNO
The Arduino Uno is an open-source microcontroller board dependent on the Microchip ATmega328P
microcontroller and created by Arduino.cc. It is programmable with the Arduino IDE through a kind B USB
cable. It can be controlled by the USB link or by an outside 9-volt battery, however it acknowledges voltages
between 7 and 20 volts. Microchip ATmega328P microcontroller and developed by Arduino.cc. The board is
equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to various expansion
boards (shields) and other circuits. The board has 14 digital I/O pins (six capable of PWM output), 6 analog I/O
pins, and is programmable with the Arduino IDE (Integrated Development Environment), via a type B USB
cable. It can be powered by the USB cable or by an external 9-volt battery, though it accepts voltages between 7
and 20 volts. It is similar to the Arduino Nano and Leonardo. The hardware reference design is distributed
under a Creative Commons Attribution Share-Alike 2.5 license and is available on the Arduino website. Layout
and production files for some versions of the hardware are also available. The word "uno" means "one"
in Italian and was chosen to mark the initial release of Arduino Software. The Uno board is the first in a series of
USB-based Arduino boards; it and version 1.0 of the Arduino IDE were the reference versions of Arduino, which
have now evolved to newer releases. The ATmega328 on the board comes preprogrammed with
a bootloader that allows uploading new code to it without the use of an external hardware programmer.
Figure 2: Arduino Uno

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BLUETOOTH MODULE
This project work consists of two main modules: the android mobile phone and the Arduino BT board
(Bluetooth module). The android mobile phone consists of several Bluetooth apps which enables the user to
access the control commands for the robot. In this project we are targeting Android platform since it has huge
market and open source. Android is a software stack for mobile devices that includes an operating system,
middleware and key applications. The Android OS is based on Linux. Android Applications are made in a Java-
like language running on a virtual machine called ‘Dalvik’ created by Google. The Android SDK provides the
tools and APIs necessary to begin developing applications on the Android platform using the Java programming
language. Accessory mode is a feature of Android OS since version 2.3.4 Gingerbread and 3.1 Honeycomb and
above. A project can also be named as smart phone Android operated robot. Here is a simple control technique
for your robot/robo car using Bluetooth module and microcontroller with your android Smartphone device.
The controlling devices of the whole system are a Bluetooth module, DC motors that are interfaced to the
microcontroller. The data received by the Bluetooth module from android smart phone is fed as input to the
controller. The controller acts accordingly on the DC motor of the robot. The robot in the project can be made to
move in all the four directions using the android phone. In achieving the task the controller is loaded with
program written using Embedded ‘C’ or assembly Language.
The Bluetooth module picks up the packets sent from the cell phone. Subsequently, these packets containing the
appliance status commands are pipelined through the microcontroller and the designed analogue circuitry
according to the definition of each output. The DC motors are connected to the digital output ports of the
controller via H - Bridge to provide sufficiently high currents and voltage compatibility. For demo purpose two
DC motors are used fo the robot movement in all the directions.
Figure 3: Bluetooth Module

DC GEAR MOTOR
In this project work two DC motors are used to operate the robot. By giving the command signals from the
mobile through the bluetooth app i.e., forward, backward, right and left directions, the robot will be moved.
DC motors are widely used, inexpensive, small and poweful for their size. They are most easy to control. One DC
motor requires only two singals for its operation. They are non-polarized, means you can reverse the voltage
without any damage to motor. DC motors have +ve and –ve leads. Connecting them to a DC voltage source
moves motor in one direction (clockwise) and by reversing the polarity, the DC motor will move in opposite
direction (counter clockwise). The maximum speed of DC motor is specified in rpm (rotation per minute). It has
two rpms: no load and loaded. The rpm is reduces when moving a load or decreases when load increases. Other
specifications of DC motors are voltage and current ratings. Below table shows the specifications of the motor
used in the project.
Figure 4: DC Gear Motor

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L293D MOTOR DRIVER
L293d IC is known as a motor driver. It is a low voltage operating device like other ICs. The Other ICs could
have the same functions like L293d but they cannot provide the high voltage to the motor. L293d provides the
continuous bidirectional Direct Current to the Motor. The Polarity of current can change at any time without
affecting the whole IC or any other device in the circuit. L293d has an internal H-bridge installed for
two motors.
H-Bridge is an electrical circuit that enables the load in a bidirectional way. L293d bridge is controlled by
external low voltage signals. It may be small in size, but its power output capacity is higher than our
expectation. It could control any DC motor speed and direction with a voltage range of 4.5 – 36 Volts. Its diodes
also save the controlling device and IC from back EMF. To control the max 600mA amount of current an internal
“Darlington transistor sink” installed in it, which could be used to control a large amount of current by
providing a small amount of current. It has also internal “pseudo-Darlington source” which amplifies the input
signal to control the high voltage DC motor without any interception.
Figure 5: L293d MOTOR DRIVER

12V BATTERY
The main power source to drive the entire Vehicle including DC motors is designed to operate at 12V DC, a
heavy duty rechargeable battery of 12V and 3 AH (Ampere Hour) is used as a back-up source, which drives
entire. The DC motors used in this project work consumes 150 milli amps each, and other circuitry including
electronic circuit & microcontroller will consume around 200 milli amps, always two motors remains in
energized condition, there by total consumption of the system is 500 milliamps approximately. Since huge
rating rachargable battery is used where as the machine consumes less power, the battery can take care of the
machine for long time. The battery back-up time = battery rating / consumed energy = 3 / 0.5 = 6. Means the
battery can with stand up to 6 hours (approximately) continuously. During the idle condition, the battery is
charged with 0.5A current. At this rate, the battery charging time = battery rating / charging current = 3 AH /
0.5 A = 6 hours. To define how long the vehicle has to run, it is purely depends up on the capacity of the battery.
The DC motors selected to drive the mechanical transmission section operates at 12V DC, hence output of the
battery can be used to drive these motors directly. The control circuit designed with microcontroller required a
stable supply of + 5V DC, here using a positive voltage regulator of LM7805, constant supply of +5 V is
generated, though the battery voltage varies +/_ 30 %, the output of the regulator remains constant..
Figure 6: 12V BATTERY

ULTRASONIC SENSOR
Ultrasonic Sensors also known as transceivers when they both send and receive work on a principle similar to
radar or sonar which evaluate attributes of a target by interpreting the echoes from radio or sound waves
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respectively. Ultrasonic sensors generate high frequency sound waves and evaluate the echo which is received
back by the sensor. Sensors calculate the time interval between sending the signal and receiving the echo to
determine the distance to an object. This technology can be used for measuring: wind speed and direction
(anemometer), fullness of a tank and speed through air or water. For measuring speed or direction a device
uses multiple detectors and calculates the speed from the relative distances to particulates in the air or water.
To measure the amount of liquid in a tank, the sensor measures the distance to the surface of the fluid. Further
applications include: humidifiers, sonar, medical ultrasonography, burglar alarms and non-destructive testing.
Systems typically use a transducer which generates sound waves in the ultrasonic range, above 18,000 hertz, by
turning electrical energy into sound, then upon receiving the echo turn the sound waves into electrical energy
which can be measured and displayed. The technology is limited by the shapes of surfaces and the density or
consistency of the material. For example foam on the surface of a fluid in a tank could distort a reading.
Figure 7: Ultrasonic Sensor

V. SOFTWARE
ARDUINO IDE SOFTWARE
The Arduino Integrated Development Environment - or Arduino Software (IDE) - contains a text editor for
writing code, a message area, a text console, a toolbar with buttons for common functions and a series of
menus. It connects to the Arduino hardware to upload programs and communicate with them. Programs
written using Arduino Software (IDE) are called sketches. These sketches are written in the text editor and
are saved with the file extension .ino. The editor has features for cutting/pasting and for searching/replacing
text. The message area gives feedback while saving and exporting and also displays errors. The console
displays text output by the Arduino Software (IDE), including complete error messages and other
information. The bottom righthand corner of the window displays the configured board and serial port. The
toolbar buttons allow you to verify and upload programs, create, open, and save sketches, and open the serial
monitor.
Installation
The steps to get started with Arduino UNO are listed below:
o Install the drivers of the board.
As soon we connect the board to the computer, Windows from XP to 10 will automatically install the board
drivers. But, if you have expanded or downloaded the zip package, follow the below steps:
1. Click on Start -> Control Panel -> System and Security.
2. Click on System -> Device Manager -> Ports (COM &LPT) -> Arduino UNO (COMxx). If the COM &LPT is
absent, look Other Devices -> Unknown Device.
3. Right-click to Arduino UNO (COmxx) -> Update Driver Software -> Browse my computer for driver software.
4. Select the file "inf" to navigate else, select "ArduinoUNO.inf" Installation Finished.
VI. RESULTS AND DISCUSSION
DEVICE:
The pictures below are to represent the result of this work.

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Circuit off state Circuit on state

Fig 8
APPPLICATION:
Figure 9: APPLICATION
The pictures above are the screenshots of android application which is developed using ANDROID STUDIO. The
application is connected to the Arduino uno through the Bluetooth module and the voice commands are taken
by the app and send them to Arduino uno through the Bluetooth module.
VII. CONCLUSION
The project work “Bluetooth controlled Robot” is designed and developed successfully, for the demonstration
purpose prototype module is constructed and results are found to be satisfactory. Since it is a prototype
module, a simple robot is constructed, which can be used for many applications. While designing and
developing this proto type module, we have consulted few experts those who are having knowledge in robotics,
embedded systems, etc and these professionals working at different organizations belongs to Hyderabad
helped us while fabricating this project work. Since it is a prototype module, much amount is not invested. The
whole machine is constructed with locally available components. Some of the modifications must be carried out
in design to make it as real working system. In this concept the robot is controlled through the bluetooth
technology whose range is nearly 100m approximately. If a camera is placed over the robot, direction can be
controlled and will broadcast the video signals to the monitoring station, where the person is monitoring and
control operation can be performed much better. The full functionality of the robot control system was tested
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and the wireless communication between the cell phone and Bluetooth module was found to be limited to
<50m in a concreted building and maximum of 100m range was reported to be applicable in an open range.
This project developed an obstacle avoiding robot to detect and avoid obstacles in its path. The robot is built on
the Arduino platform for data processing and its software counterpart helped to communicate with the robot to
send parameters for guiding movement.
ACKNOWLEDGEMENTS
We would like to thank our guide Mr. B.Giri Raju sir for his continuous support and guidance. Because of his
guidance, we completed our project successfully. We are extremely grateful to Dr. P. Satish Kumar, Head of the
Department of Electronics and Communication Engineering, Ace Engineering College for his support and
encouragement.
VIII. REFERENCES
[1] Zhizeng L, Jingbing Z (2004). Speech recognition and its application in voice-based robot control
system. In 2004 International Conference on Intelligent Mechatronics and Automation, 2004.
Proceedings.
[2] Tabassum F, Lopa S, Tarek MM,Ferdosi BJ (2017). Obstacle avoiding robot. Global J. Res. Eng., 17(1).
Version 1.0.
[3] Ryther CA, Madsen OB (2009). Obstacle Detection and Avoidance for Mobile Robots. Technical
University of Denmark.
[4] Ahasan MA, Hossain SA, Siddiquee AU, Rahman MM (2012). Obstacles Invariant Navigation of an
Autonomous Robot Based on GPS. Khulna University.
[5] Dhanya KR, JeyanthiR (2012). Automatic braking system with fusion concept. Int. J. Emerg. Trends Eng.
Dev. April.
Text Books:
[6] Linear Integrated Circuits – By: D. Roy Choudhury, Shail Jain
[7] Digital Electronics. By JOSEPH J.CARR
[8] Fundamental of Radio Communication: By A.SHEINGOLD
[9] Basic Radio and Television: By S.P.SHARMA
[10] Digital and Analog Communication System By: K. sam Shanmugam
[11] Relays and their applications - By: M.C.SHARMA
[12] The concepts and Features of Micro-controllers - By: Raj Kamal
[13] The 8051 Micro-controller Architecture, programming & Applications - By: Kenneth J. Ayala
[14] Programming and Customizing the 8051 Micro-controller - By: Myke Predko
[15] Electronic Circuit guide book – Sensors – By JOSEPH J.CARR

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e-ISSN: 2582-5208

International Research Journal of Modernization in Engineering Technology and Science

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Figure 2: Arduino Uno

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Figure 3: Bluetooth Module

Figure 4: DC Gear Motor

Figure 5: L293d MOTOR DRIVER

Figure 6: 12V BATTERY

Figure 7: Ultrasonic Sensor

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