PATH MEMORIZING BLUETOOTH CONTROLLED

ROBOT CAR
BACHELOR OF TECHNOLOGY

In

ELECTRONICS AND COMMUNICATION ENGINEERING

A Mini Project Report Submitted By

J. SAI SRUJANA - 20011P0411

CHINTA SONIA -20011P0409
B. LAKSHMI SATHWIKA -20011P0403
B. DIVYANSHI -20011P0406

Under the esteemed guidance of

DR.T. MADHAVI KUMARI

Professor in ECE Department

Department Of Electronics and Communication Engineering

Jawaharlal Nehru Technological University Hyderabad
College Of Engineering Hyderabad
Autonomous
(Kukatpally -Hyderabad-500085)
2023-24
 1 | Page
Department of Electronics and Communication Engineering
Jawaharlal Nehru Technological University Hyderabad
Kukatpally – Hyderabad-500085

CERTIFICATE BY THE SUPERVISOR

This is to certify that the mini project report entitled “PATH MEMORIZING
BLUETOOTH CONTROLLED ROBOT CAR” being submitted by

J. SAI SRUJANA - 20011P0411

CHINTA SONIA -20011P0409
B. LAKSHMI SATHWIKA -20011P0403
B. DIVYANSHI -20011P0406

in partial fulfilment of the requirements for the award of degree in Bachelor of

Technology in Electronics and Communication Engineering at the Jawaharlal Nehru
Technological University during the academic year, 2023-24 is a Bonafide work
carried out under my guidance and supervision. The results embodied in this minor
project report have not been submitted to any other University or institute for the
award of any degree or diploma.

Supervisor:
Dr.T. Madhavi Kumari
Professor of ECE
JNTUH College of Engineering,
Kukatpally, Hyderabad

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 Department Of Electronics and Communication Engineering
Jawaharlal Nehru Technological University Hyderabad -
Kukatpally -Hyderabad-500085

CERTIFICATE BY THE HEAD OF THE DEPARTMENT

This is to certify that the mini project report entitled “PATH MEMORIZING
BLUETOOTH CONTROLLED ROBOT CAR” being submitted by

J. SAI SRUJANA - 20011P0411

CHINTA SONIA -20011P0409
B. LAKSHMI SATHWIKA -20011P0403
B. DIVYANSHI -20011P0406

in partial fulfilment of the requirements for the award of degree in Bachelor of

Technology in Electronics and Communication Engineering at the Jawaharlal Nehru
Technological University during the academic year, 2023-24 is a Bonafide work
carried out by them.

Head of Department
Dr.A.Rajani
- Professor and Head
Department of ECE

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 Department Of Electronics and Communication Engineering
Jawaharlal Nehru Technological University Hyderabad
Kukatpally -Hyderabad-500085

DECLARATION OF THE CANDIDATES

We hereby declare The Mini Project entitled “PATH MEMORIZING

BLUETOOTH CONTROLLED ROBOT CAR “is a Bonafide record work done and
submitted under the esteemed guidance of Dr.T. Madhavi Kumari, Professor,
Department of ECE, JNTUH CEH, in partial fulfilment of the requirements for Mini
project in Electronics and Communication Engineering at the Jawaharlal Nehru
Technological University during the academic year 2023-24 is a Bonafide work
carried out by us and the results kept in the mini project has not been reproduced.
The results have not been submitted to any other institute or university for the award
of a degree or diploma.

J. SAI SRUJANA - 20011P0411

CHINTA SONIA -20011P0409
B. LAKSHMI SATHWIKA -20011P0403
B. DIVYANSHI -20011P0406

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 ACKNOWLEDGEMENT

This project titled “PATH MEMORIZING BLUETOOTH CONTROLLED ROBOT

CAR” was carried out by us. We are grateful to Prof. Dr. T. Madhavi Kumari, and Prof.
Dr. A.Rajani, Professor, and Head of the Department of Electronics and
Communication Engineering, JNTU Hyderabad College of Engineering Hyderabad, for
their guidance while pursuing this project.

We take this precious opportunity to acknowledge our internal project guide Prof. Dr.
T. Madhavi Kumari, Professor of Electronics and Communication Engineering, JNTUH
College of Engineering, Hyderabad for her timely advice, effective guidance, and
encouragement throughout the completion of our mini-project work.

We also owe a deep respect of gratitude to our parents and friends for their cheerful
encouragement and valuable suggestions, without whom this work would not have been
completed in this stipulated time.

We would like to articulate our heartfelt gratitude to the authorities of JNTU for their
help throughout our project work. A few lines of acknowledgment do not fully express
our gratitude and appreciation for all those who guided and supported us throughout
this project. Lastly, we acknowledge the help received from many journals and websites.
Finally, we thank one and all who helped us directly or indirectly throughout our project
work.

J. SAI SRUJANA - 20011P0411

CHINTA SONIA -20011P0409
B. LAKSHMI SATHWIKA -20011P0403
B. DIVYANSHI -20011P0406

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 INDEX
S.No CONTENTS Page Number

1 LIST OF FIGURES 8

2 LIST OF TABLES 9

3 ABSTRACT 10

4 1.Introduction 10-11
1.1.Overview of path memorizing Bluetooth controlled
5 11
robot car
6 1.1.1 Applications 12

7 1.1.2 Additional Features 12

6 1.2 Aim 12

7 1.3 Objectives 13

8 1.4 Components Required 13

9 1.5 Methodology 13-14

10 1.5.1 Block Diagram 15

11 1.6 Why we use Arduino instead of Microcontrollers 15

12 2. Arduino Uno 16-18

13 2.1 History 16

14 2.2 Introduction 16

15 2.3 Features 16-17

16 2.4 Arduino IDE 17

17 2.5 Arduino Boards 18

18 2.6 Arduino Uno Pin Description 18-19

19 2.7 Microcontroller ATmega328P 20

20 2.7.1 Arduino Programming 20-21

21 3. L298N Motor Driver 22-24

22 3.1 Features 22

23 3.2 Pin Description 23-24

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24 4. HC05 Module 24

25 4.1 Pin Description 24-25

26 5. Serial Bluetooth Terminal 27-29

27 5.1 Output in Serial Bluetooth Terminal 27-29

28 6. Voltage Supply 30

29 6.1 Lithium-Ion 3.7 Batteries 30

30 6.2 Applications of Lithium-Ion Batteries 30

31 7. Overview of Project Code 31-38

32 8. Limitations 39

33 9. Future Scope and Conclusion 40

34 9.1 Scope for Future Research 40

35 9.2 Conclusion 40

36 REFERENCES 41

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 LIST OF FIGURES

Figures No. Caption Page

No.

Figure 1.5 S Schematic diagram for Path memorizing Bluetooth 14

-controlled robot car
Figure 1.5.1 i Block diagram 15

Figure 2.4 Arduino IDE default home page. 17

Figure 2.5 Types of Arduino boards 18

Figure 2.6 Arduino Uno Pin Description 18

Figure 2.7 ATmega328P Microchip 20

Figure 2.8 Selecting Arduino Board in IDE 20

Figure 2.9 Serial Port Selection in IDE 21

Figure 3.1 L298N Motor Driver 22

Figure 3.2 L298N Motor Driver Pin Description 23

Figure 4.1 HC-05 Bluetooth Module 25

Figure 5.1 Serial Bluetooth terminal App 27

Figure 5.2 Serial Bluetooth terminal 27

Figure 5.3 Connecting HC-05 Module 28

Figure 5.4 HC-05 connected successful to Serial Bluetooth terminal 28

Figure 5.5 Commands given to HC-05 module 29

Figure 6.1 3.7V lithium-Ion Battery 30

Figure 8.2 Path Memorizing Bluetooth Controlled Robot Car 40

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 LIST OF TABLES

Table No. Title Page No.

Table:1.2 Difference between Arduino and other 15

Microcontrollers

Table 2.1 Pins and their Usage 19

Table 4.1 Pin Description of HC-05 Bluetooth Module 26

Table 7.1 Limitations of Path memorizing Bluetooth 39

Controlled Bluetooth Car

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TITLE:
PATH MEMORIZING BLUETOOTH CONTROLLED
ROBOT CAR

ABSTRACT

With the rise and continuous development of robot technology, autonomous robots
are becoming more and more widely used. Robots lessen human effort involved in
performing a particular task more efficiently and make human life easier by
solving day-to-day problems. Since past few years the algorithms for autonomous
vehicles have greatly evolved, providing effective and efficient solutions to cope
with the complexity of real-world problems.

The "Path Memorizing Robot Car Using Arduino Microcontroller" is a robotic

system designed to autonomously navigate and memorize paths within indoor
environments. The system leverages an Arduino microcontroller to control the
robot's movements, sensors, and path memorization capabilities. The primary
objective of this project is to develop a versatile and cost-effective solution for
applications such as warehouse logistics, delivery services, and indoor navigation.
The robot car consists of a chassis with attached wheels, DC motors, and various
sensors, including ultrasonic or infrared sensors for obstacle detection and
optional line-following sensors for path guidance. A motor driver module
interfaces with the Arduino to regulate the motors' speed and direction.

Firstly, the robot is wirelessly controlled through mobile applications via

Bluetooth connection and made to store the path it has followed in the memory
and then the robot is made to replicate the path it has followed .Android
Bluetooth controlled robot is a humanoid-assisted robotic system which can be
easily controlled by using an android smart phone instead of any other methods
like buttons, gestures, etc. For moving the robot, we just need to touch the
forward, backward, right and left buttons of the app.

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 1. INTRODUCTION:
1.1 Overview of path memorizing Bluetooth controlled robot car

A path-memorizing Bluetooth-controlled robot car is a versatile device that

combines robotics, Bluetooth communication, and memory capabilities. The project
aims in designing a path memorizing robot car that can be operated wirelessly
through smart phone using Bluetooth feature present in it. The controlling device of
the whole system is Arduino Uno. Bluetooth module, motor drivers are interfaced to
the Arduino Uno board. The data received by the Bluetooth module from smart
phone is fed as input to the Arduino , which in turn gives the data to the motor
drivers. These motor drivers then act accordingly on the DC motors by allowing the
movement of robot car in the desire direction.
Here's an overview of key features and functionality in this project:

 Robot Car: This is a mobile vehicle equipped with wheels, motors, and the
necessary hardware to move around and interact with its environment.

 Bluetooth Control: It can be controlled remotely using a Bluetooth connection,

typically via a smartphone or computer. Users can send commands and
instructions to the robot car using a dedicated mobile app or software.

 Motor Control: Motor drivers are used to control the speed and direction of the
DC motors.

 Path Memorization: It is the ability to memorize and recall paths or routes it has
travelled. This means it can remember specific routes, turns, and movements,
making it useful for tasks like automated deliveries within a predefined area.

 Programming: Users can often program the robot car to follow specific
sequences of actions or behaviours. This can be done through user-friendly
graphical interfaces or by writing custom code.

 Power Source: It is typically powered by rechargeable batteries, ensuring it can

operate wirelessly for extended periods.

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 1.1.1 APPLICATIONS:

Path-memorizing Bluetooth-controlled robot cars have a wide range of applications.

 Smart Home Assistance: Robot cars can assist in home automation tasks, such as
delivering items within the home, controlling smart devices, or providing
entertainment for residents.
 Store Assistance: In retail settings, robot cars can assist customers by guiding
them to specific product locations or providing information about products and
promotions.
 Experimental Platforms: Researchers use robot cars as platforms for
experiments in fields like artificial intelligence, computer vision, and autonomous
navigation.
 Disaster Response: In disaster scenarios, these robot cars can navigate
challenging terrain to search for survivors or deliver supplies to inaccessible
areas.

The applications of path-memorizing Bluetooth-controlled robot cars continue to

expand as technology advances, making them valuable tools for enhancing
efficiency, automation, and learning across diverse industries and settings.

1.1.2 ADDITIONAL FEATURES:

Depending on the specific model, these robot cars may come with additional
features such as obstacle avoidance, remote video streaming, and customizable
accessories like arms or cameras.

1.2 AIM:
To transfer the information wirelessly between a smartphone and the robot and
developing a cost-effective robot. To enhance location-based services by allowing
devices to memorize and navigate path using Bluetooth connectivity.

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 1.3 OBJECTIVES:
1. It can be used to autonomously navigate and memorize path in indoor
environments, such as factories.
2. The robot car could deliver items within a defined area, remembering routes and
avoiding obstacles.

1.4 COMPONENTS REQUIRED:

 Arduino Uno Board
 HC- 05 Bluetooth Module
 L298N Motor Driver
 DC motors (*2)
 Switch
 Bluetooth Controlled App
 Jumper Wires
 Bread Board
 3.7V lithium Ion Battery (*3)
 Wheels and chassis

1.5 METHODOLOGY:

Creating a path-memorizing Bluetooth-controlled robocar involves several

steps, and it's a complex project that requires programming, electronics, and
mechanical skills.
The steps involved are as follows:

1. Gather all the materials and Components that are mentioned above.
2. Assemble the Robot car by Building the physical structure and attach the
wheels and motors, and make sure everything is securely connected.
3. Connect the L298N motor driver output pins to the Arduino board input pins,
and wire up the motors to the motor driver.

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4. Connect HC-05 Bluetooth module to the microcontroller as per the below
circuit diagram.
5. Write the code for your microcontroller (Arduino) to control the motors,
receive Bluetooth commands, and handle obstacle avoidance.
6. Implement a path-memorization algorithm, such as recording the car's
movements in terms of distance and direction.
7. Pair your smart phone or computer with the Bluetooth module on the robot car.
8. Use Serial Bluetooth Terminal (Bluetooth app) to send commands to the car
(forward, backward, left, right).
9. .Implement a way for the robot car to memorize the path it takes. This could
involve recording distance and direction data as it moves and storing it in
memory.
10.Test your robot car to ensure it moves as expected, responds to Bluetooth
commands, and avoids obstacles if applicable.
11.Debug and refine your code as needed.

Fig: 1.5 Schematic diagram for Path memorizing Bluetooth controlled robot car.

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 1.5.1 BLOCK DIAGRAM:

The block diagram of Arduino Bluetooth Controlled Robot is given below:

Fig: 1.5.1 block diagram

1.6 Why We Use Arduino Instead of Microcontroller?

Table:1.2 Difference between Arduino and other Microcontrollers

Arduino Microcontroller
Arduino is a complete development board Microcontroller is a single chip that requires
that contains its own microcontrollers inside an external circuit to operate.
it along with other peripherals.
Arduino has a flexible range of voltage It can only operate at fixed voltage between
support as it has its own voltage regulators. 5V and 6.6V maximum.
Arduino has its own programming Microcontrollers have their own
environment IDE. programming tool according to type and
manufacturer of microcontroller.
Arduino programming language is easy to Microcontrollers are hard to program, one
use and learn. must know the basics of microcontroller
internal circuits.

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 2. ARDUINO UNO

2.1 HISTORY:
The project began in the Interaction Design Institute in Ivrea, Italy. Under
the supervision of Casey Reas and Massimo Banzi, the Hernando Bar in 2003
created the Wiring (a development platform). It was considered as the master thesis
project at IDII. The Wiring platform includes the PCB (Printed Circuit Board). The
PCB is operated with the ATmega168 Microcontroller.
In 2005, Massimo Banzi, David Cuartielles, David Mellis, and another IDII
student supported the ATmega168 to the Wiring platform. They further named the
project as Arduino.
The Arduino project began in 2005 as a tool for students at the Interaction
Design Institute Ivrea, Italy,[3] aiming to provide a low-cost and easy way for
novices and professionals to create devices that interact with their environment using
sensors and actuators.

2.2 INTRODUCTION:

Arduino is a software as well as hardware platform that helps in making

electronic projects. It is an open-source platform and has a variety of controllers and
microprocessors. There are various types of Arduino boards used for various
purposes.
The Arduino is a single circuit board, which consists of different interfaces
or parts. The board consists of the set of digital and analog pins that are used to
connect various devices and components, which we want to use for the functioning
of the electronic devices. Most of the Arduino consists of 14 digital I/O pins.
The analog pins in Arduino are mostly useful for fine-grained control. The
pins in the Arduino board are arranged in specific pattern. The other devices on the
Arduino board are USB port, small components(voltage regulator or
oscillator),microcontroller,power connector.

2.3 FEATURES:

 Arduino programming is a simplified version of C++, which makes the

learning process easy.
 The Arduino IDE is used to control the functions of boards. It further sends
the set of specifications to the microcontroller.
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  Arduino does not need an extra board or piece to load new code.
 Arduino can read analog and digital input signals.
 The hardware and software platform are easy to use and implement.

2.4 ARDUINO IDE:

The Arduino Integrated Development Environment (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.
The IDE makes the traditional projects even easier and simpler. The USB
cable is used to load the program or sketch on the specific Arduino board.

Fig: 2.4 Arduino IDE default home page.

The IDE application is suitable for Windows, Mac OS X, and Linux. It supports
the programming language C and C++. We need to connect the Genuino and
Arduino board with the IDE to upload the sketch written in the Arduino IDE
software.

Many other companies including Sparkfun Electronics, also make their own
boards that are compatible with Arduino IDE.

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 2.5 ARDUINO BOARDS:

There are variety of Arduino board used for different purposes. The board varies
in I/O pins, size, etc. The various components present on the Arduino boards are
Microcontroller, Digital Input/Output pins, USB Interface and Connector,
Analog Pins, Reset Button, Power button, LED's, Crystal Oscillator, and Voltage
Regulator. Some components may differ depending on the type of board.
 Arduino UNO
 Arduino Nano
 Arduino Mega
 Arduino Due
 Arduino Bluetooth

Fig: 2.5 Types of Arduino boards

2.6 ARDUINO UNO PIN DESCRIPTION:

The Arduino Uno is a popular microcontroller board that comes with various pins
and features for building electronic projects. It's based on the
ATmega328P microcontroller
.

Fig: 2.6 Arduino Uno

Pin Description

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Vin: This is the input voltage pin of the Arduino board used to provide input supply
from an external power source.

5V: This pin of the Arduino board is used as a regulated power supply voltage and it
is used to give supply to the board as well as onboard components.

3.3V: This pin of the board is used to provide a supply of 3.3V which is generated
from a voltage regulator on the board

GND: This pin of the board is used to ground the Arduino board.

Reset: This pin of the board is used to reset the microcontroller. It is used to Resets
the microcontroller.

Analog Pins: The pins A0 to A5 are used as an Analog input and it is in the range of
0-5V.

Digital Pins: The pins 0 to 13 are used as a digital input or output for the Arduino
board.

Serial Pins: These pins are also known as a UART pin. It is used for communication
between the Arduino board and a computer or other devices. The transmitter pin
number 1 and receiver pin number 0 are used to transmit and receive the data resp.

External Interrupt Pins: This pin of the Arduino board is used to produce the
External interrupt and it is done by pin numbers 2 and 3.

PWM Pins: These pins of the board are used to convert the digital signal into an
analog by varying the width of the Pulse. The pin numbers 3,5,6,9,10 and 11 are used
as a PWM pin.

SPI Pins: This is the Serial Peripheral Interface pin; it is used to maintain SPI
communication with the help of the SPI library. SPI pins include:

Table: 2.1 SPI Pins and their Usage

PIN No PIN Name Used For

10 SS used as a Slave Select
11 MOSI used as a Master Out Slave In
12 MISO used as a Master in Slave Out
13 SCK used as a Serial Clock

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LED Pin: The board has an inbuilt LED using digital pin-13. The LED glows only
when the digital pin becomes high.

AREF Pin: This is an Analog reference pin of the Arduino board. It is used to provide
a reference voltage from an external power supply.

2.7 MICROCONTROLLER ATmega328P:

Arduino UNO is based on an ATmega328P microcontroller. This chip belongs

to the Atmel family. The processor code in it is of 8 bits. It has on chip memory, I/O
lines, Analog to digital converter, SPI serial ports, registers, timer, interrupts (external
and internal) and oscillator.

ATmega328P has 2KB of SRAM,32KB of Flash and1KB of EEPROM. The

Arduino uses its flash memory to store the programs(sketches) uploaded to it. Arduino
also has internal EEPROM which has finite memory(1024 bytes) and only when we
need to store a few parameters we can make use of Arduino’s internal EEPROM.

Fig: 2.7 Atmega328 Microchip

2.7.1 ARDUINO PROGRAMMING:

1. Download and install the Arduino environment (IDE).

2. Launch the Arduino IDE.

3. If needed, install the drivers.

4. Write the required code and connect the board to your computer via USB
cable.

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 5. Select your board.

Fig 2.7: selecting Arduino board in IDE

6. Select your serial port .

Fig 2.8: Serial port selection in IDE

7. Upload the program.

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 3. L298N MOTOR DRIVE

A motor driver module is a simple circuit used for controlling a DC motor.

It is commonly used in autonomous robots and RC cars (L298N and L293D are
the most regularly utilized motor driver chips). A motor driver module takes the
low voltage input from a controller like Arduino. This input logic controls the
direction of DC motors connected to the driver. To put it in simple words, you can
control the direction of DC motors by giving appropriate logic to the motor driver
module.

The motor driver module consists of a motor driver IC, which is the heart of
the module. The IC alone can control the DC motor, but using the module makes
interfacing Arduino easy.

Fig 3.1 :L298N Motor Driver

3.1 FEATURES:

 Operating supply voltage up to 46 V

 Total DC current up to 4 A. 2A per channel
 Low saturation voltage
 Over temperature protection
 Logical input voltage up to 1.5 V
 High noise immunity

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 3.2 PIN DESCRIPTION:

The L298Nis a dual H -Bridge motor driver which allows speed and
direction control of two DC motors at the same time. The module can drive DC
Motors that have voltages between 5 and 35V, with a peak current up to 2A.Let’s
take a closer look at the pinout of L298N module.

Fig 3.1:L298N Motor Driver pin description

 VCC pin supplies power to the motor. Voltage anywhere between 5 to 35V can
be applied. Remember, if the 5V-EN jumper is in place, you need to supply 2
extra volts than the motor’s actual voltage requirement, in order to run the motor
at its maximum speed.

 GND is the common ground pin.

 5V pin supplies power to the switching logic circuitry inside the L298N IC. If the
5V-EN jumper is in place, this pin acts as output and can be used to power up the
Arduino. If the 5V-EN jumper is removed, you need to connect it to the 5V pin
on Arduino.

 ENA pins are utilized to control the speed of Motor A. Supplying this pin with
HIGH logic makes the Motor A rotate, supplying it with LOW logic causes the
motor to stop. Removing the jumper and connecting this pin to the PWM input let
us control the speed of the Motor A.

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 IN1 & IN2 pins are used to control the direction of Motor A. If IN1 is HIGH
and IN2 is LOW, Motor A spins in a certain direction. To change the direction,
make IN1 LOW and IN2 HIGH. If both the inputs are either HIGH or LOW,
the Motor A stops.

 IN3 & IN4 pins are used to control the direction of the Motor B. If IN3 is HIGH
and IN4 is LOW, Motor B spins in a certain direction. To change the direction,
make IN3 LOW and IN4 HIGH. If both the inputs are either HIGH or LOW, the
Motor B stops.

 ENB pin can be used to control the speed of Motor B. Supplying this pin with the
HIGH signal makes the Motor B turn, supplying it LOW cause the motor to stop.
Eliminating the jumper and interfacing this pin to PWM information let us control
the speed of Motor B.

 OUT1 & OUT2 pins are connected to Motor A.

 OUT3 & OUT4 pins are connected to Motor B.

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 4. HC05 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.

Bluetooth serial modules allow all serial enabled devices to communicate with
each other using Bluetooth.

Fig 4.1: HC-05 Bluetooth Module

4.1 PIN DESCRIPTION:

It has 6 pins,

1. Key/EN: It is used to bring Bluetooth module in AT commands mode. If

Key/EN pin is set to high, then this module will work in command mode.
Otherwise by default it is in data mode. The default baud rate of HC-05 in
command mode is 38400bps and 9600 in data 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.

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 Table:4.1 Pin Description of HC-05 Bluetooth Module

S. PIN Pin Description

No Name

1. VCC Connect 5 V or 3.3 V to this Pin.

2. GND Ground Pin of module.

3. Transmit Serial data (wirelessly

TXD received data by Bluetooth module
transmitted out serially on TXD pin).

4. RXD Receive data serially (received data will be

transmitted wirelessly by Bluetooth module).

5. State It tells whether module is connected or

not.

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 5. SERIAL BLUETOOTH TERMINAL

Serial Bluetooth Terminal is a line-oriented terminal/console app for

microcontrollers, Arduino and other devices with a serial or UART interface
connected with Bluetooth to serial converter to an android device.

Fig 5.1: Serial Bluetooth Terminal App

5.1 OUTPUT IN SERIAL BLUETOOTH TERMINAL:

Steps to follow:

1. Open serial Bluetooth terminal .

Fig:5.2 serial Bluetooth Terminal

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2. Link the required HC-05 module to the smart phone via Bluetooth.

Fig 5.3: Connecting HC-05 Module

3. When the Bluetooth module HC05 connects successfully to the serial

Bluetooth terminal app, the output will be as shown in the figure.

Fig 5.4: HC-05 connected successfully to serial Bluetooth terminal

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4.Various commands such as ‘F’ for forward, ‘B’ for Backward, ‘R’ for
Right, and ‘L’ for Left are entered in the serial Bluetooth terminal that are
to be executed.

Fig 5.5 :Commands given to HC-05 Bluetooth

5.Command ‘W’ for Repeat is entered and the previous commands are
executed in the sequence they are executed.

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 6. VOLTAGE SUPPLY

6.1 LITHIUM ION 3.7V BATTERIES

A 3.7V lithium-ion (Li-ion) battery is a rechargeable energy storage device

commonly used in various electronic devices. It has a nominal voltage of 3.7 volts
full-charge voltage of 4.2v. This voltage is suitable for many portable electronic
devices, including smartphones, laptops, digital cameras, and more.Li-ion
batteries use lithium-ion chemistry to store and release energy. This chemistry
provides a good balance between energy density and safety, making them popular
for consumer electronics.
The capacity of a Li-ion battery is typically measured in milliampere-hours
(mAh) or ampere-hours (Ah). It indicates how much energy the battery can store.
Common capacities range from a few hundred mAh for small devices to several
thousand mAh for larger ones. Li-ion batteries are rechargeable, meaning they
can be charged and discharged multiple times.
Over time and with use, Li-ion batteries gradually lose capacity, which
means they hold less charge. Factors like temperature and the number of charge-
discharge cycles can affect their lifespan.

Fig:6.1 3.7V lithium Ion Battery

6.2 APPLICATIONS OF LITHIUM-ION BATTERIES:

These batteries are used in a wide range of applications, including

 smartphones, laptops, tablets, electric vehicles (EVs), drones, power
banks, and more.
 Their popularity stems from their high energy density and lightweight
characteristics.

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7. OVERVIEW OF THE PROJECT CODE

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 8. LIMITATIONS
Path memorizing Bluetooth-controlled robot cars have certain limitations:

Table 7.1: Limitations of Path memorizing Bluetooth Controlled Bluetooth Car

S.No FIELD EXPLANATION

1. Limited Memory These robots typically have limited memory
capacity, which restricts the amount of path data
they can store.

2. Lack of These robots often rely on pre-recorded paths,

which means they cannot adapt to changes in the
Adaptability
environment or unexpected obstacles in real-time.

3. Precision & The precision of path memorization depends on

the quality of sensors and programming.
Accuracy
Variations in sensor data or inaccuracies in motor
control can lead to deviations from the intended
path.

4. Limited Range Bluetooth connectivity has a limited range,

typically around 30 feet (10 meters). This means
that the operator must remain relatively close to
the robot for control, which can be inconvenient in
certain applications.

5. No Autonomous They can only follow the pre-defined path and do

not have the capability to identify obstacles, plan
Decision-
alternate routes, or respond to changing conditions.
Making:
6. Battery Life The operation of Bluetooth-controlled robots
depends on battery life. Constant Bluetooth
communication and motor activity can drain the
battery quickly, limiting the robot's operational
time.
7. Security Bluetooth communication can be vulnerable to
unauthorized access or interference. If not properly
Concerns
secured, others may gain control over the robot,
posing security risks.
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 9.FUTURE SCOPE AND CONCLUSION
9.1 Scope For Future Research:
 Location detection can be made possible with the use of GPS module.
 With the addition of various sensors such as ultrasonic sensors obstacle
detection and avoidance can be achieved by the robot so that they can
navigate smoothly.
 We can add cameras and LiDAR to expand the system and make it safer for
the public to use in real life.
 Installation of pay loader will further improve the functionality of robot.

9.2 Conclusion:

Thus, in this project, we designed a Path memorizing Bluetooth

Controlled Robot car using the same hardware required for the simple robot
car. The car will receive the commands via Bluetooth from an Android
Application and move accordingly. This car is cost effective and the
performance of this car can be further improved with suitable modifications in
its hardware and software to implement more advanced applications such as
Material handling and autonomous navigation.

Fig:8.2 Path Memorizing Bluetooth Controlled Robot Car

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 REFERENCES:

1. https://how2electronics.com/wireless-bluetooth-controlled-robot-using-
arduino/

2. https://www.etechnophiles.com/how-to-make-a-path-memorizing-robot-
using-arduino/

3. https://circuitdigest.com/microcontroller-projects/bluetooth-controlled-
robot-car-using-arduino

4. https://iotdesignpro.com/articles/bluetooth-controlled-robot-car-using-
arduino

5. https://www.gnedenko.net/Journal/2021/SI_012021/RTA_SI_1_2021-
40_400-406.pdf

6. https://forum.arduino.cc/t/is-there-a-way-to-make-path-remembering-
robot/650839/2

7. https://ieeexplore.ieee.org/document/10063092

8. https://components101.com/modules/l293n-motor-driver-module

9. https://www.geeksforgeeks.org/all-about-hc-05-bluetooth-module-
connection-with-android/

10. https://robu.in/arduino-pin-configuration/

11.https://linuxhint.com/arduino-vs-
microcontroller/#:~:text=Arduino%20has%20a%20flexible%20range,type
%20and%20manufacturer%20of%20microcontroller.

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