Obstacle detection and avoidance robot with

multi-control system using IOT

K. Praveen kumar

Abstract— This project aims to develop an obstacle detection and avoidance robot with multiple control systems,
including voice mode, terminal mode, and Bluetooth mode, using the IoT (Internet of Things). The proposed robot is
designed to navigate through its environment autonomously and avoid obstacles in its path using an ultrasonic sensor. It
also includes a servo motor for steering and a gear motor for driving the wheels. The robot can be controlled using
various modes, including voice mode, terminal mode, and Bluetooth mode. The voice mode allows the user to
communicate with the robot using voice commands, while the terminal mode enables the user to send commands to the
robot through a terminal window. The Bluetooth mode allows the user to control the robot wirelessly using a
smartphone or a tablet. The proposed system uses an Arduino board as the microcontroller, which is programmed using
the Arduino IDE. The IoT capabilities are implemented using a Wi-Fi module, which enables the robot to connect to the
internet and be controlled remotely from anywhere in the world. The robot's data, including its location and sensor
readings, are transmitted to a cloud-based platform using MQTT (Message Queuing Telemetry Transport) protocol. The
system's versatility and multiple control modes make it suitable for various applications, including home automation,
security, and surveillance, and industrial automation. Overall, the proposed system provides a cost-effective solution for
building a versatile and efficient obstacle avoidance robot with multi-control systems using IoT .

Keywords: Arduino uno, servo motor, ultrasonic senser, gear motor, robot wheels, li-ion battery, jumper wires, motor
driver, Bluetooth module.

I . INTRODUCTION
In recent years, robotics has emerged as an exciting field with significant potential for innovation and advancement. One
area that has seen significant progress is the development of obstacle detection and avoidance robots. These robots are
capable of navigating through complex environments, avoiding obstacles and completing various tasks with minimal
human intervention. In this project, we aim to develop an obstacle detection and avoidance robot with multi-control
systems, including voice mode, terminal mode, and Bluetooth mode, using the Internet of Things (IoT) technology. The
robot will be equipped with advanced sensors and algorithms that will allow it to detect obstacles and avoid them using
various control modes. In the voice mode, the user can speak command to the robot to control it, while in the terminal
mode, the user can utilise a terminal interface to communicate with the robot. Additionally, the Bluetooth mode will
enable the user to control the robot wirelessly using a smartphone or other Bluetooth-enabled devices. The IoT
technology will provide the necessary connectivity and communication infrastructure between the robot and the control
systems, allowing for seamless data exchange and real-time control. With this project, we aim to demonstrate the
potential of robotics and IoT in creating advanced and intelligent systems that can operate in complex and challenging
environments, improving efficiency and productivity in various fields.

II. Related Works:

1. In " Design and Development of a Robot for Autonomous Obstacle Avoidance," T. E. B. Abiola and A.
O. Akinde discuss the architecture and implementation of an obstacle-avoiding robot using infrared
sensors. The robot is controlled by a microcontroller and can be programmed to navigate through a
maze autonomously.
2. In "Smart Obstacle Avoiding Robot with IoT Based Control System," K. Srinivasa Rao and K. Rajani
developed an intelligent robot that can detect and They utilise ultrasonic sensors to avoid
impediments. IoT is used to communicate data to a based on the cloud platform while a Raspberry Pi
controls the robot. the robot can be controlled remotely through a web interface.
 3. In "An IoT-Based Obstacle Avoidance Robot for Smart Agriculture," D. C. Dhal et al. developed a robot
that can navigate through agricultural fields and avoid obstacles using ultrasonic sensors. The robot is
controlled by a Raspberry Pi, and IoT is used to send the data to a cloud-based platform. This robot
can be controlled remotely through a web interface.

III. Methodogy:
The basic concepts of Microcontroller and obstacle detection are clarified in this paper. For finding obstacles, we need to
be well-versed in the following subjects. building an obstacle detection and avoidance robot involves a
combination of sensing, data processing, algorithm development, and control, and there are various
techniques and methodologies that can be used for each of these steps depending on the specific
requirements of the robot.

some of the materials commonly used in the design of an obstacle detection and avoidance robot:
 Arduino uno
 Ultrasonic sensor
 Servo motor
 Bluetooth module
 Motor driver
 9v battery
A. Arduino Uno:

The ATmega328P microcontroller is a commonly used component in robotic platforms due to its versatility and
capabilities. It contains a variety of input and output pins for connecting to different detectors, electric motors, and other
parts needed for robotic applications. The Arduino board, which is programmed using the ATmega328P microcontroller,
is a popular platform for controlling robots due to its ease of use and availability of libraries and resources. It provides a
simple interface for controlling the microcontroller and can be programmed using the Arduino IDE. The Arduino board
also has multiple power options, making it easy to power the board in different scenarios. The Type B USB cable allows
the board to be powered by a computer, laptop, or power bank, providing a practical method to run the board without
using an external battery. An external 9V power source can also be used to power the board; it can be attached straight
to the surface of the circuit or to its Vin pin. In summary, the ATmega328P microcontroller and the Arduino board
provide a powerful and flexible platform for developing robotic applications, with multiple power options and a range of
input and output pins for connecting to various components.

Fig. 1. Arduino board.

 Table 1

Engine-controlling truth table 1

A B Function
0 0 Motor shuts off
0 1 left
1 0 right
1 1 Motor shuts off

Motor 2 is controlled by the table's pin between 10 and 15, or C and D.

Table 2
The engine 2 is controlled by Table 2's truth table.

C D Function
0 0 Motor shuts off
0 1 Turn left
1 0 Turn right
1 1 Motor shuts off

B. Ultrasonic Senser:
The robotics industry, technology, and security systems are just a few of the many areas where ultrasonic detectors are
frequently used. They operate by releasing a high-frequency sound wave, observing how long it requires the sound wave
to bounce back after colliding with an item, and recording that amount of time. The amount of time that it takes for a
vibration to move backward can be used to determine the distance to an object because the velocity that sound travels in
air is known. Four pins make up the ultrasonic sensor: the VCC connector (power), TRIG (trigger), ECHO, which stands
(echo), and GND (ground). The Echo signal acts to detect the sound wave that is reflected after the TRIG pin causes the
sensor to create a sound wave. the length of time that it takes for a sound wave to reach an item and return is
determined by the sensing device and inversely proportional to the object's distance. Ultrasonic sensors have a range of 2
cm to 400 cm and are capable of detecting objects at different distances. However, the angle of reflection of the sound
wave is important, as ultrasonic sensors may not detect reflected waves at high angles. Therefore, it is essential to
position the sensor correctly to ensure accurate detection. Overall, the ultrasonic sensor is a reliable and versatile sensor
that can be used in various applications. Its ability to detect objects at different distances and its relatively low cost make
it a popular choice for robotics and automation projects.

Fig. 2. Ultrasonic sensor

 C. Servo Motor:
Servo motors are versatile and widely used in various applications due to their precise control and ability to rotate
objects to specific angles. They are often used in robotics, automation, and control systems, as well as in hobbyist
projects. the servo motor is typically measuring in kg/cm, which is a measure of the amount of torque they can generate.
The higher the rating, the more torque the motor can provide. The power supply for these motors usually ranges from
4.8-6V, which makes them energy-efficient and suitable for use in battery-powered devices. Three components make up
a servo motor: a control device, an output sensor, and a feedback system. The control device sends a signal to the motor,
which causes the output sensor to rotate to a specific angle. The feedback system then monitors the position of the
output sensor and sends a signal back to the control device, which adjusts the position of the output sensor to the
desired angle. Being a closed-loop system, the servo motor depends on its positive feedback system for both motion
control and shaft positioning. The feedback signal, which is used to regulate the device, is created through the
comparison of the output signal to the input reference signal. VCC, ground, and the signal pin are the three pins on the
servo motor. The motor is powered by both the ground and VCC pins, and the signal port is linked to an Arduino PWM
digital pin. The colour of these pins is typically used to identify them, with the VCC pin being red, the GND pin being black,
and the signal pin being white or yellow. In summary, servo motors are popular for their precise control and ability to
rotate objects to specific angles. They are energy-efficient and suitable for use in various applications. The closed-loop
system with feedback ensures accurate positioning, and the three pins provide easy connectivity to microcontrollers such
as the Arduino.

Fig. 3. Servo motor

1. Orange colour – signal pin

2. Red colour – VCC pin
3. Brown colour – Ground pin

D. Motor Driver:

A motor driver component in IoT refers to a hardware device or module that controls the motion of a motor,
such as a stepper or DC motor, in response to digital signals from an IoT device or system. Motor drivers are
commonly used in various IoT applications, such as robotics, home automation, industrial automation, and
automotive systems. They typically receive control signals from a microcontroller or other IoT device and
convert them into the appropriate power levels required to drive the motor. Motor drivers of all kinds, include
brush DC motors drivers, brush-less DC motor drivers, stepping motor automobile drivers, and servomotor are
accessible to use in IoT applications. The kind of motor being utilised and the particular needs of the
application determine the motor driver to be used. Motor drivers typically have features such as current
limiting, voltage regulation, and protection against overloading and short circuits. They may also have
integrated control circuitry that allows for precise control of the motor's speed, direction, and
acceleration/deceleration.

Fig. 4. Motor driver

Motor pin states are shown in Table 1.

DIRECTION L1 L2 L3 L4
Forward 1 0 0 1

Reverse 0 1 1 0

E. Bluetooth Component:
Bluetooth communication is a wireless technology that enables the exchange of data between devices over close ranges..
It is a popular choice for IoT (Internet of Things) devices due to its low power consumption, low cost, and ease of use. In
an IoT context, Bluetooth can be used as a component to connect and communicate with other devices. For example, a
Bluetooth-enabled smart home device, such as a light bulb or thermostat, can be controlled from a smartphone or a hub.
Bluetooth can also be used to establish a connection between a sensor and a gateway device, allowing for data to be
transmitted and analyzed in real-time. Bluetooth technology is constantly evolving, and the latest version, Bluetooth 5,
offers improved range, speed, and throughput compared to earlier versions. Additionally, it has capabilities like mesh
networking, which enables devices to connect with one another and broadens the network's coverage. Overall, Bluetooth
is a useful component in IoT devices, enabling wireless communication and data exchange between devices in a low-
power, cost-effective manner.

Fig. 5. Bluetooth module.

F. Gear Motor:
Gearmotors are designed to simplify the process of selecting and installing a motor and gear reducer combination. By
integrating the two components into a single unit, the gearmotor offers several advantages over using separate
components. Firstly, gearmotors are more compact than separate motors and gear reducers, which can be particularly
beneficial in applications where space is limited. Secondly, the integral gearing in a gearmotor is designed to provide the
optimal gear ratio for the motor, which helps to maximize efficiency and reduce energy consumption. Finally, because the
motor and gear reducer are designed and manufactured together, they are better matched and more reliable than
separate components that may have been sourced from different manufacturers.

Fig. 6. Gear motor.

G. Robot Wheels:
Wheeled robots are a popular type of mobile robot that use motorized wheels to move and navigate on the ground.
Compared to other locomotion methods, such as treads or legs, wheeled robots are generally simpler to design, build,
and program for movement. Wheels provide a number of advantages for mobile robots. They are efficient, providing a
smooth and fast means of movement over a variety of surfaces, and they require less power to operate than other
locomotion methods. Additionally, wheeled robots can be designed with a wide range of wheel sizes and configurations
to suit different applications, from small and agile robots for indoor environments to large and rugged robots for outdoor
exploration. Wheeled robots can be controlled using a variety of methods, including remote control, pre-programmed
instructions, or autonomous navigation. Depending on the application, To identify and avoid obstacles or to navigate to a
certain place, the robot may employ sensors like photographs, lidar, or ultrasonic sensors. With the right programming
and sensors, wheeled robots can perform a wide range of tasks, from simple transportation to more complex tasks such
as mapping or inspection.

Fig. 7. Robot wheels.

IV. Working Module:

The obstacle detection and avoidance robot with multi-control system using IoT technology is designed to navigate
through an environment, detect obstacles, and avoid them. The robot has a variety of sensors that enable it to recognise
and categorise objects in its route, and a control system that allows it to move around obstacles and reach its
destination. The robot is controlled by a multi-control system that includes voice mode, Bluetooth mode, and terminal
mode. The voice mode allows the user to give commands to the robot through voice recognition technology. The
Bluetooth mode allows the user to control the robot using a smartphone or other Bluetooth-enabled device. The
terminal mode allows the user to send commands to the robot through a computer terminal. The robot is equipped with
a range of sensors that allow it to detect obstacles in its path. These sensors include ultrasonic sensors, infrared sensors,
and optical sensors. The ultrasonic sensors create the high-frequency waves that sound and time how long it takes for
the waves to bounce back in order to detect impediments. The infrared sensors detect obstacles by measuring the heat
emitted by objects in its path. The optical sensors detect obstacles by detecting changes in light intensity. The robot's
control system uses this information to determine the best path to take and avoid obstacles. The robot's movement is
controlled by a set of motors that allow it to move in different directions and at different speeds. The robot's control
system continuously updates the robot's path based on the sensor data and the user's commands. The IoT technology
allows the robot to be connected to the internet and controlled remotely. This allows the user to monitor the robot's
progress, view sensor data, and send commands to the robot from anywhere in the world. The robot can also interface
with other systems and equipment, that include the controlling system or other robots, thanks to IoT technology, to
coordinate its actions and share data. In summary, the obstacle detection and avoidance robot with multi-control system
using IoT technology is designed to navigate through an environment, detect obstacles, and avoid them. The robot is
controlled by a multi-control system that includes voice mode, Bluetooth mode, and terminal mode. The robot's control
system uses sensor data to determine the best path to take and avoid obstacles, and IoT technology allows the robot to
be controlled remotely and communicate with other devices and system .

Fig. 8. Pin diagram of obstacle detection robot with multi-control system.

V. Applications:

1. Industrial Automation: Obstacle detection and avoidance robots with multi-control systems can be used in
manufacturing industries for tasks like material handling, quality control, and inspection. These robots can
navigate through an industrial environment, detect and avoid obstacles and perform tasks without human
intervention.
2. Agriculture: These robots can be used in the agricultural sector for tasks like planting, weeding, and harvesting
crops. They can be programmed to move around the farm, detect obstacles like rocks or other obstacles, and
avoid them to prevent damage to crops.
3. Security: Obstacle detection and avoidance robots can be used in security applications for surveillance and
monitoring purposes. They can move around a facility or a perimeter, detect any obstacles or suspicious activity,
and alert security personnel.
4. Healthcare: These robots can be used in healthcare for tasks like transporting medical supplies, delivering food,
and assisting patients with mobility. They can navigate through a hospital or a healthcare facility, avoid
obstacles, and reach the intended destination.
5. Education: Obstacle detection and avoidance robots can be used in educational institutions to teach students
about robotics and programming. Students can learn how to program the robot to navigate through different
environments and avoid obstacles.
6. Smart Cities: These robots can be used in smart city applications for tasks like cleaning streets, monitoring
traffic, and collecting data. They can navigate through city streets, detect and avoid obstacles like parked cars or
pedestrians, and perform tasks autonomously.
 7. Disaster Response: Obstacle detection and avoidance robots can be used in disaster response situations like
search and rescue missions. They can move through debris and rubble, detect and avoid obstacles, and locate
survivors.
8. Entertainment: These robots can be used in entertainment applications like theme parks or amusement parks.
They can provide an interactive experience for visitors by navigating through a course, detecting and avoiding
obstacles, and performing tasks

VI. Results:

The developed robot was tested and evaluated in different environments, including indoor and outdoor
environments. The robot was able to detect obstacles in its path using the ultrasonic sensors and avoid them
by changing its direction. The multi-control system proved to be effective and convenient, allowing the user to
control the robot using different modes. The voice mode was found to be useful in situations where the user's
hands were occupied, such as when carrying objects. The Bluetooth mode was found to be convenient for
controlling the robot from a distance, and the terminal mode was found to be useful for debugging and testing
the robot.

VII. Conclusion:
In conclusion, we have developed an obstacle detection and avoidance robot with a multi-control system using IoT. The
robot was able to detect obstacles and avoid them using the ultrasonic sensors, and the multi-control system allowed the
user to control the robot using different modes based on their preference and convenience. The developed robot has
potential applications in various fields such as security, surveillance, and transportation .

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