A PROJECT

ON AN

AUTOMATIC TROLLEY

By

ADEYEMO ISMAIL DAMILARE (Matric No. 1702071001)

SHITTU HABEEB AYODEJI (Matric N0. 1702071005)

Submitted in partial fulfillment of the requirements of Lagos State Polytechnic for the

degree of National Diploma School of Engineering

MECHATRONICS ENGINEERING TECHNOLOGY

Under the guidance

Of

MR ADESANYA G.E.

May 2021

1
 CERTIFICATION

This is to certify that Project Report entitled “AUTOMATIC TROLLEY” that is submitted by

Shittu Habeeb Ayodeji and Adeyemo Ismail Damilare in partial fulfillment of the requirement

for the award of the degree National Diploma in Department of MECHATRONICS

ENGINEERING of Lagos State Polytechnic, is a record of the candidates own work carried

out by them under my own supervision. The matter embodies in thesis is original and has not

been submitted for the award of any other degree.

PROJECT SUPERVISOR

……………………………. …………………………..

MR ADESANYA .G.E. DATE

…………………………… ……………………………

MR ADISA K. O DATE

H.O.D MECHATRONICS ENG. DEPT.

…………………………….

……………………………..

ENGR. S. K. BELLO DATE

2
 ABSTRACT

The robot is created to have advantages that are not owned by humans. One of them is

unlimited compatibility. This requires that the robot have a variety of sensor components for

the creation of intelligent autonomous behavior in robots. Nowadays moving a trolley is

difficult task to do. Therefore, to overcome this problem we are introducing a new idea called

“Automatic trolley”. With the use of these trolley moving fragile goods or objects can be done

safely. Sensor on the trolley will track the remote and keep moving.

3
 DECLARATION

We hereby declare that this submission is our own work and that, to the best of our knowledge

and belief, it contains no material previously published or written by another person nor

material which to a substantial extend has been accepted for the award of the award of any

other degree or diploma of the university or other institute of the higher leaning except where

due acknowledgement has been made in the text.

NAME OF STUDENT PROJECT

SUPERVISOR

SHITTU HABEEB AYODEJI MR ADESANYA

G. E

…………………………….

…………………………….

SIGNATURE AND DATE SIGNATURE AND

DATE

NAME OF STUDENT

ADEYEMO ISMAIL DAMILARE

…………………………….

SIGNATURE AND DATE

4
 DEDICATION

We dedicate this work to all the lecturers and support staff of the Department of Mechatronics

Engineering, at the Lagos State Polytechnics, for their tireless and selfless efforts they have

spared in making us who we are today.

5
 ACKNOWLEDGEMENT

We would like to thank Mr. Adesanya .G.E & Mr. Adisa .K.O. for their efforts, who were

always ready with a positive and slightly harsh comment, whether it was an off-hand comment

to encourage us or to criticize us

We are deeply indebted to our mentors Mr. Adesanya .G.E, Mr. Odukoya .A, Mr. Kadiri .I,

Miss Obadare .B, Mr. Adisa .K. Eng. Bello S.K & Eng. Balogun.W. Whose inspiration has

been unfailingly available to us at all stages of our training? This has fueled our enthusiasm

even further and encouraged us too boldly and Mindy step into what was totally dark and

unexplored expanse before us.

In course of present work, it has been our privilege to receive help and assistance of our

friends. I take great pleasure in acknowledge our debt to them.

I wish to thank our parents for their undivided support and interest who inspired us and

encouraged us to go our own way, without whom we would be unable to complete our project.

I also want to thank my partner for his support and respect throughout our project period. At

last but not the least we want to thank our friends who appreciated us for our work and

motivated us and finally to God who made all the things possible.

Adeyemo Ismail Damilare (1702071001).

Shittu Habeeb Ayodeji (1702071005)

6
 CHAPTER ONE

1.1 INTRODUCTION

In recent years, robot technology has developed significantly. Most of the traditional robots are

still commonly used for industrial applications, such as in car assembly factories. Most

recently, intelligent robots have become popular in daily life applications. Human friendly

robots are now used for taking care of the elderly. The purpose of a human following robot is

to improve the relationship between people and the robot. For instance, the robot can carry

heavy loads and fragile goods for people in hospitals, airports and shopping centers. The robot

can provide services to humans as an assistant in different kinds of situations.

In robotic research, vision-based robots have gained growing interests for navigation; however,

the traditional method of line following navigation still plays an important role in mobile robot

technology. This is because a robot with line following capability requires a lower cost to build

and has a simple design. A non-touching recognition system can tag and send tag data

wirelessly at various distances...

1.2 AIMS AND OBJECTIVES

The main aim of our project is to make transporting of fragile goods more easy and

comfortable by providing suitable facility right in the trolley.

The main objectives of this project are;

i. To design and produce a versatile trolley that is user friendly for human and makes their life

easier.

ii. To produce an automatic trolley that can carry a small, light, big and fragile thing to move

from one point to another point.

7
1.3 SIGNIFICANCE OF THE PROJECT

Comfort ability is a major concern to our life. Everybody desires to be as comfortable as

possible. The progressive home safety and comfort system has improved to the present system

in our day-to-day life. Comfort systems for places like homes, supermarkets, industries etc.

enables the places to be more productive and comfortable to use. The finest way to add comfort

to any places is by using a smart system that also adds more beauty to the working area.

1.4 SCOPE OF STUDY

This project is focusing a trolley that can be used in Laboratory to help user to carry fragile

things. The versatile design of this trolley can be transform into three versions.

This Automatic Trolley Human Follower target is general user and laboratory uses. For the

laboratory use, the target point is to help carry fragile or heavy tools to move from one point to

another point. This trolley can thus reduce the labor. The versatile design of trolley can help

workers carry kilograms of things according to its design. The Automatic Trolley Human

Follower was designed using four-wheel trolleys and it is connected to 12-volt dc motor to

move the trolley.

The trolley is also design with manually mode by using Remote Control to perform when the

automatic mode is broken. There is joystick to control the movement of the trolley.

8
 CHAPTER 2

2.0 LITERATURE REVIEW

Before the invention of trolley, bags and basket are used in carrying fragile goods from one

place to another. The invention of trolley has increased comfort and safe delivery of fragile

goods.

In the year, 2019 Husain Bhaldar et al [1] designed a Human Following Trolley using a

raspberry Pi as its microcontroller. The trolley he created avoids obstacles automatically. His

robot also has a small camera, which takes the picture of a unique tag of who it should follow.

If the tag matches it, it follows automatically. His idea was not been used because of the

raspberry Pi and the camera.

Sachin Tom et al [2] designed and fabricated a trolley with a line following facility in 2015.

The trolley has an RFID used for billing. The system eradicates queues at the billing counter.

Nevertheless, his idea was not been used because of the billing system.

Denny Irawan et al [3] designed the Design of Human Follower Trolley Robot Based on Object

Tracking (color detection) Method in March 2019. The goal of his design was to move goods

from one place to another. This trolley will detect the color of clothing of humans, that it will

follow by using the camera as the sensor and the camera captured will be processed using C+

by utilizing the open source library in which the image matches with the one on the Arduino, it

then follows.

Amir Hafizul bin ABD Malek [4] from the faculty of Electrical & Computer Engineering,

University of Teknikal Malaysia Maleka on June 2014 designed an Automatic Human Follower

Trolley for general and industrial use, in order to carry heavy things. Which uses a

PIC16F877A microcontroller that can follow the user automatically with integrated circuit of

Ultrasonic & IR sensor and uses a 12V DC motor? Part of his idea was used like DC motor,

ultrasonic sensor.

9
L. S. V Dehigaspege et al [5] designed a Follow me multifunctional Automated Trolley. His

trolley uses a GPS and an android phone.

Vikash Kumar et al [6] Associate professors of electrical Engineering produced an automatic

trolley using sensors, motor, motor driver and STM 32 as the motor driver. The system was

designed to be controlled by a remote and was able to follow line and human on rare cases.

From the Department of Electronics & Telecommunications Engineering, Deepali Pandita [7]

fabricated automatic trolley in 2014 using only sensors, DC motors and Batteries. His system

was not very efficient because of power abort and was having a wrong RFID code, which was

scanning an item twice.

Dennis Boamah et al [8] of London South Bank University designed a smart Trolley in 2018.

This system used an Artificial intelligence comprising of camera, GPS, sensors, controllers and

motors.

10
 CHAPTER THREE

3.1 METHODOLOGY

MATERIALS USED IN IMPLEMENTING THE TROLLEY

Resistor

Capacitor

Wires

DC Motors

Tires

VI53L0x time of flight distances sensor

Hc-sr04 range finder

Stm32f104 modular board

3.7v lipo battery

Infrared light sensor

Switch

Battery Management System (BMS) Charge controller

L298 Motor driver

NRF24L01

RESISTOR

A resistor is a passive two-terminal electrical component that implements electrical resistance

as a circuit element. In electronic circuits, resistors are used to reduce current flow, adjust

signal levels, to divide voltages, bias active elements, and terminate transmission lines, among

other uses.

RESISTOR SPECIFICATIONS

The resistance is obviously the key resistor specification

Power dissipation specification

11
Power de-rating specification

Temperature coefficient specification

Maximum temperature specification

Resistor specification for maximum voltage

Fig 3.1: Resistor

CAPACITOR

A capacitor is a device that stores electrical energy in an electric field. It is a passive electronic

component with two terminals. The effect of a capacitor is known as capacitance. 

SPECIFICATIONS OF A CAPACITOR

Nominal Capacitance, (C) The nominal value of the Capacitance, C of a capacitor is the most

important of all capacitor characteristics. ...

Working Voltage, (WV)...

Tolerance, (±%) ...

Leakage Current. ...

Working Temperature, (T)...

Temperature Coefficient, (TC)...

Polarization. ...

Equivalent Series Resistance, (ESR)

12
Figure 3:1

Fig 3.2: Capacitor

WIRES

A wire is a single usually cylindrical, flexible strand or rod of metal. Wires are used to bear

mechanical loads or electricity and telecommunication signals. Wire is commonly formed

by drawing the metal through a hole in a die or draw plate. Wire gauges come in

various standard sizes, as expressed in terms of a gauge number. The term 'wire' is also used

more loosely to refer to a bundle of such strands, as in "multi stranded wire", which is more

correctly termed a wire rope in mechanics, or a cable in electricity.

Fig 3.3

DC MOTORS

A DC motor is any of a class of rotary electrical motor that converts direct current electrical

energy into mechanical energy. The most common types rely on the forces produced by

magnetic fields. Nearly all types of DC motors have some internal mechanism, either

electromechanical or electronic; to periodically change the direction of current in part of the

motor.

13
SPECIFICATIONS

Standard 130 Type DC motor.

Operating Voltage: 4.5V to 9V.

Recommended/Rated Voltage: 6V.

Current at No load: 70mA (max)

No-load Speed: 9000 rpm.

Loaded current: 250mA (approximately)

Rated Load: 10g*cm.

Motor Size: 27.5mm x 20mm x 15mm.

Fig 3.4: DC motor

TIRES

A tire is a ring-shaped component that surrounds a wheel's rim to transfer a vehicle's load from

the axle through the wheel to the ground and to provide traction on the surface over which the

wheel travel.

Fig 3.5: Tire

VL53L0X TIME OF FLIGHT DISTANCE SENSOR

14
This sensor is a carrier/breakout board for ST’s VL53L0X laser-ranging sensor, which

measures the range to a target object up to 2 m away. The VL53L0X uses time-of-flight

measurements of infrared pulses for ranging, allowing it to give accurate results independent of

the target’s color and surface. Distance measurements can be read through a digital I²C

interface. The board has a 2.8 V linear regulator and integrated level-shifters that allow it to

work over an input voltage range of 2.6 V to 5.5 V, and the 0.1″ pin spacing makes it easy to

use with standard solder less breadboards and 0.1″ per boards.

SPECIFICATION

Dimensions: 0.5″ × 0.7″ × 0.085″ (13 mm × 18 mm × 2 mm)

Weight without header pins: 0.5 g (0.02 oz)

Operating voltage: 2.6 V to 5.5 V

Supply current: 10 mA (typical average during active ranging)

Varies with configuration, target, and environment. Peak current can reach 40 mA.

Output format (I²C): 16-bit distance reading (in millimeters)

Distance measuring range: Up to 2 m (6.6 ft.), see the graph at the right for typical ranging

performance.

Fig 3.6: VL53LOX

Hc-sr04 RANGE FINDER (Ultrasonic sensor)

The HC-SR04 Ultra01 in addition with Ultrasonic Range Finder provides 2cm - 400cm

15
non-contact measurement function, the ranging accuracy can reach to 3mm.  The module

includes ultrasonic transmitters, receiver and control circuit.

SPECIFICATIONS

Power supply: 5V DC

Quiescent current: 2mA

Effectual angle: 15 degree

Ranging distance: 2cm - 500 cm

Resolution: 0.3 cm

Fig 3.7: Ultrasonic sensor

STM32F104 MODULER BOARD

The STM32F4 System-On-Module (SOM) is a compact (30 mm x 46 mm) mezzanine module

that combines a 180 MHz Arm Cortex-M4 STM32F429 microcontroller with 32 MB SDRAM,

16 MB NOR do Flash and an Ethernet PHY buffer on a single board. The SOM interfaces to a

baseboard (motherboard) using two 80-pin interface connectors.

SPECIFICATIONS

Compact (30 mm x 46 mm) mezzanine module;

External interface using two 80-pin 0.4 mm-pitch connectors;

Mounting hole reducing the risk of connector-to-PCB intermittence;

16
Compliant with the Restriction of Hazardous Substances (RoHS) directive;

STM32F429 MCU in UFBGA176 package capable of running the system clock at up to 180

MHz;

Arm SWJ-DP: a combined JTAG and serial wire debug port;

Powered from single +3.3 V power supply;

Low-power mode with short startup times;

Deep-sleep power mode with ultra-low power consumption profiles;

On-module clocks;

32 Megabytes SDRAM;

16 Megabytes NOR Flash;

Serial console interface at UART CMOS levels;

802.3 Ethernet interface;

USB 2.0 full-speed device/host/OTG controller with on-chip PHY;

Watchdog Timer (WDT);

Real-Time Clock (RTC);

All otherwise uncommitted interfaces of the STM32F4 MCU available on the interface

connectors.

Fig 3.8: STM 32 modular board

INFRARED LIGHT SENSOR

17
A passive infrared sensor (PIR sensor) is an electronic sensor that

measures infrared (IR) light radiating from objects in its field of view OR can also be said to be

a light sensitive optoelectronic component with a spectral sensitivity in infrared wavelength

range. They are most often used in PIR – based motion detectors. They work entirely by

detecting infrared radiation (radiant heat) emitted by or reflected from objects.

SPECIFICATIONS

Working voltage: 3-5V DC

Output type: Digital switching output (0 and 1)

3mm screw holes for easy mounting

Board size: 3.2 x 1.4cm

Fig 3.9: IR Sensor

SWITCH

In electrical engineering, a switch is an electrical component that can disconnect or connect the

conducting part in an electrical circuit, interrupting the electrical current or diverting it from

one conductor to another.

Fig 3.10: Switch

3.7 V Lipo BATEERY

18
A Lithium polymer battery, or more correctly Lithium-ion polymer battery (abbreviated as

Lipo, LIP, Li-Poly, Lithium –poly and others) is a rechargeable battery of lithium ion

technology using a polymer electrolyte instead of a liquid electrolyte. High conductivity

semisolid (gel) polymers form this electrolyte.

SPECIFICATIONS

Operating voltage: 3.0V-5.0V

Detection range: 2cm- 30cm

(Adjustable using potentiometer)

Fig 3.11: Lipo battery

L298 MOTOR DRIVER

The L298 is an integrated monolithic circuit in a 15- Lead Multiwatt and power S020

packages. It is high voltage, designed to accept standard TTL logic levels and drive inductive

loads such as relays, solenoids, DC and stepping motors.

SPECIFICATIONS

Dual H Bridge motor driver

L298 motor driver IC

Drives up to 2 bidirectional DC motors

Integrated 5V power regulator

5V – 35V drive voltage

2A maximum drive current

19
 Fig 3.12: L298 Motor driver

BATTERY MANAGEMENT SYSTEM (BMS) CHARGE CONTROLLER

A battery management system (BMS) is an electronic system that manages a rechargeable

battery (cell or battery pack), such as by protecting the battery from operating outside its safe

operating area [clarification needed], monitoring its state, calculating secondary data, reporting

that data, controlling its environment, authenticating it and / or balancing it.

SPECIFICATIONS

Product model: YX-X2086

Display accuracy: 0.1V

Control accuracy: 0.1V

Output type: Output switch

Voltage error : ± 0.2v

Battery voltage: 1.5-120v

Load :10A

Weight: 42,72g

20
Fig 3.12: BMS Charge controller

NRF24L01 Transceiver Module

The module can use 125 different channels which give a possibility to have a network of 125

independently working modems in one place. Each channel can have up to 6 addresses, or each

unit can communicate with up to 6 other units at the same time. The power consumption of this

module is just around 12mA during transmission, which is even lower than a single LED. The

operating voltage of the module is from 1.9 to 3.6V, but the good thing is that the other pins

tolerate 5V logic, so we can easily connect it to an Arduino without using any logic level

converters.

21
Fig 3.13: NRF24L01 Transceiver Module

WORKING PROCESS OF THE TROLLEY

The Ultrasonic sensor has the Time of flight sensor (ToF) beside it. The Ultrasonic sensor has

a longer working range that the VL53L0X, but this sensor is more precise with making

decision. It makes use of digital communication called I square C (I² C).VL53L0X was used

because of space. An algorithm carries out the process. The system makes use of a motor driver

that is connected to the micro controller sending 12V to the DC controller to each of the

wheels. The microcontroller produces 15mA. So therefore, the motors cannot be connected

directly to the micro controller because it will blow it up. The controller sends signal to the

driver, which then sends current to the wheels respectively. We also have the DC-DC converter,

which steps down 12V supply from the Lipo battery. The battery has a separate charger, which

is used to charge when the battery is low. A bypass connects 12V directly to the DC-DC

converter to reduce to 9V. When the DC converter sends 9v to the motor driver, it regulates it

to 5V.The STM 32 Microcontroller works on 3.3V, there is a pin that sends the 5V down back

to the controller. Within the microcontroller is a step down that regulates the voltage from 5V

to 3.3V. The 3.3V is been used to communicate with all the modules. There is also a module

present on the board, which is known as Transceiver (It contains a transmitter and a receiver).

The main function of this transceiver is to communicate with the remote. The remote controller

has the following modules; joystick, LCD display, and a switch. The circuit of the remote uses

a 6V DC battery. In addition, it has a transceiver (NRF24L01), which is connected to the

Trolley. There is a switch to change from remote controlling to line following.

Algorithm for the Automatic Trolley and Remote

Battery Sensors Fw Bw

L L

STM 32 22
Motor
Switch CPU Driver

R R
 Transceiver Fw Bw
(Transmitter and receiver)

TROLLEY

Transceiver
(Transmitter and receiver)

AT mega 3289 LCD

Joystick

REMOTE

CHAPTER 4

4.0 RESULTS

SN Infrared transmitter Microcontroller response Automatic trolley response

1 Control button up 1 Output voltage Move forward

2 Continuous press Continuous movement

23
3 Stop press No movement

4 Control button right 2 Output voltage Turns right

5 Continuous press Continuous movement

6 Control button left 3 Output voltage Drift and Turns left

7 Continuous press Continuous movement

8 Stop press No movement

Table 4:1 Remote control push button movement

4.2 DISCUSSION

This project works automatically with a remote control. When the remote control push button

is been pressed to go forward, the trolley moves according to the command been given to it by

the remote control, it goes forward until the button is been stopped from control. If the remote

is been pressed for the trolley to turn left, it turns and move in the left direction. If also the

trolley has been commanded to turn right from its position, it drifts to the side and go right

until it receives a command to stop. Nevertheless, the trolley moves based on the remote

control command.

CHAPTER FIVE

5.1 CONCLUSION

With the aid of automatic line following and a remote control trolley, Supermarkets and

Medicare owners need only to purchase the portable trolley and can easily make use of it in

their own convenient time. Users will enjoy shopping because they do not need to push the

trolley here and there. The line following aspect work successfully to track black line above the

surface. This design is cost-effective, and it reduces human effort. There is some room for

24
further improvement of project. Firstly, the mechanism of the robot should be enhanced and

designed in a simpler way, to ease the installation under a shopping trolley. Secondly, a more

advanced algorithm should be developed so that the shopping trolley is able to move in a

crowded environment and follows the user automatically in any direction. Lastly, an improved

Android application that can remind the users on the items they need to purchase when they are

unintentionally passing by the goods location. In addition, it can also remind the users who

have health problems about the nutrition of products. Besides that, the locations of shopping

trolleys are tracked and can be displayed to allow supermarket staff and users know the

shopping trolley current locations

5.2 FUTURE SCOPE

There are many interesting applications in the vast robotic world in different fields like military

or medical. Wireless communication functionality can be added in the robot to make it more

versatile and control from a large distance. Furthermore, a tag which uniquely identifies only a

specific customer. However, as of now the extrapolation of coordinates is difficult and is a

difficult task to deliver

APPENDIX

25
Appendix 1 Appendix 3

Appendix 2 Appendix 4

Appendix 5

THE PROGRAMMING CODE OF THE TROLLEY

#include "Adafruit_VL53L0X.h"

// address we will assign if dual sensor is present

#define LOX1_ADDRESS 0x30

#define LOX2_ADDRESS 0x31

#define constDistance 50

26
// set the pins to shutdown

#define SHT_LOX1 PC8

#define SHT_LOX2 PC9

// objects for the vl53l0x

Adafruit_VL53L0X lox1 = Adafruit_VL53L0X();

Adafruit_VL53L0X lox2 = Adafruit_VL53L0X();

// this holds the measurement

VL53L0X_RangingMeasurementData_t measure1;

VL53L0X_RangingMeasurementData_t measure2;

/*

Reset all sensors by setting all of their XSHUT pins low for delay(10), then set all XSHUT

high to bring out of reset

Keep sensor #1 awake by keeping XSHUT pin high

Put all other sensors into shutdown by pulling XSHUT pins low

Initialize sensor #1 with lox.begin(new_i2c_address) Pick any number but 0x29 and it must

be under 0x7F. Going with 0x30 to 0x3F is probably OK.

Keep sensor #1 awake, and now bring sensor #2 out of reset by setting its XSHUT pin high.

Initialize sensor #2 with lox.begin(new_i2c_address) Pick any number but 0x29 and

whatever you set the first sensor to

*/

void setID() {

pinMode(SHT_LOX1,OUTPUT);

27
pinMode(SHT_LOX2,OUTPUT);

// all reset

digitalWrite(SHT_LOX1, LOW);

digitalWrite(SHT_LOX2, LOW);

delay(10);

// all unreset

digitalWrite(SHT_LOX1, HIGH);

digitalWrite(SHT_LOX2, HIGH);

delay(10);

// activating LOX1 and reseting LOX2

digitalWrite(SHT_LOX1, HIGH);

digitalWrite(SHT_LOX2, LOW);

// initing LOX1

if(!lox1.begin(LOX1_ADDRESS)) {

Serial.println(F("Failed to boot first VL53L0X"));

while(1);

delay(10);

// activating LOX2

digitalWrite(SHT_LOX2, HIGH);

delay(10);

28
 //initing LOX2

if(!lox2.begin(LOX2_ADDRESS)) {

Serial.println(F("Failed to boot second VL53L0X"));

while(1);

#define MAX_DISTANCE 500

int captureDistance1(){

VL53L0X_RangingMeasurementData_t measure;

lox1.rangingTest(&measure, false); // pass in 'true' to get debug data printout!

if (measure.RangeStatus != 4) { // phase failures have incorrect data

return measure.RangeMilliMeter;

int captureDistance2(){

VL53L0X_RangingMeasurementData_t measure;

lox2.rangingTest(&measure, false); // pass in 'true' to get debug data printout!

if (measure.RangeStatus != 4) { // phase failures have incorrect data

29
 return measure.RangeMilliMeter;

NewPing sonar(trigger, ultaSensor1, MAX_DISTANCE);

int Left_Value , Right_Value;

unsigned int distance;

void followHuman(){

//ulta(trigger,ultaSensor1);

// put your main code here, to run repeatedly:

// delay(50);

//while(1){

distance =sonar.ping_cm(); //getDistance(ultaSensor1);

Right_Value = captureDistance1();//digitalRead(RIGHT);

Left_Value = captureDistance2();//digitalRead(LEFT);

if(Right_Value==0) Right_Value=8191;

if(Left_Value==0) Left_Value=8191;

Serial.print("distance : ");

Serial.print(distance);

30
Serial.print(" ::: Right_Value : ");

Serial.print(Right_Value);

Serial.print(" ::: Left_Value : ");

Serial.println(Left_Value);

//delay(1000); }

/////moveforward moveBackward driveSpeed moveLeft moveRight stopMovement

if((Right_Value>=8000) && (distance>=constDistance)&&(Left_Value>=8000)){ //&&

distance<=constDistance

Serial.println(F("FORWARD"));

rightSide(LatesetSpeed1,FORWARD);

leftSide(LatesetSpeed2,FORWARD);

else{

if(Right_Value>Left_Value){

rightSide(LatesetSpeed1,BACKWARD);

leftSide(LatesetSpeed2,FORWARD);

else if(Right_Value<Left_Value){

rightSide(LatesetSpeed1,FORWARD);

leftSide(LatesetSpeed2,BACKWARD);

/*

else if((Right_Value<=2000) && (Left_Value>=8000) && (distance>=constDistance)) {

31
 rightSide(LatesetSpeed1,BACKWARD);

leftSide(LatesetSpeed2,FORWARD);

else if((Right_Value>=8000)&&(Left_Value<=2000) && (distance>=constDistance)) {

rightSide(LatesetSpeed1,FORWARD);

leftSide(LatesetSpeed2,BACKWARD);

else if((Right_Value>=2000)&&(Left_Value>=2000)) {

rightSide(0,3);

leftSide(0,3);

else if(distance < constDistance) {

Serial.println("stoped");

rightSide(0,3);

leftSide(0,3);

}*/

Reference

Joshi, S. N., V. K. Patki, P. S. Dixit and H. Bhaldar (2019). "Design and Development of

Human Following Trolley."

ABD MALEK, A. H. B. (2014). AUTOMATIC TROLLEY HUMAN FOLLOWER, Universiti

Teknikal Malaysia Melaka.

Dehigaspege, L., M. Liyanage, N. Liyanage, M. Marzook and D. Dhammearatchi "Follow Me

Multifunctional Automated Trolley."

Ng, Y. L., C. S. Lim, K. A. Danapalasingam, M. L. P. Tan and C. W. Tan (2015). "Automatic

32
human guided shopping trolley with smart shopping system." Jurnal Teknologi 73(3).

33