Multi-Functional Arduino Robot Car Mini Project

ABSTRACTION

This project focuses on creating a multi-functional Arduino robot capable of obstacle avoidance,
Bluetooth control, and voice control. It begins with selecting and assembling essential components
such as the Arduino UNO board, L293D motor driver shield, ultrasonic sensor, Bluetooth module,
servo motor, and gear motors. The assembly involves constructing a sturdy chassis, mounting
components securely, and wiring them to ensure proper functionality.

Programming the robot involves developing code to implement each control method. This includes
obstacle avoidance logic using the ultrasonic sensor, interpreting Bluetooth signals for remote
control via a smartphone app, and responding to voice commands through Bluetooth
communication. Fine-tuning and testing are crucial stages to optimize movement, sensor accuracy,
and responsiveness to commands.

This project provides a hands-on learning experience in electronics, programming, and robotics,
fostering skills in problem-solving, iteration, and practical application of theoretical concepts. It
serves as a foundation for exploring more complex robotics projects and encourages creativity and
innovation in integrating various control mechanisms into autonomous systems.

Dept of CSE, MyCEM, Mysore 1 2023-2024

 Multi-Functional Arduino Robot Car Mini Project

TABLE OF CONTENTS

Description Page No.

ABSTRACTION 1
INTRODUCTION 5
CHAPTER 1 1.1Background 5
1.2Purpose of the Project 5
1.3Overview of Functionalities 6
CHAPTER 2 LITERATURE REVIEW 8
2.1 History of Robotics 8
2.2 Overview of Arduino Platform 8
2.3 Obstical Avoidence in Robotics 9
2.4 Bluetooth-Controlled Robot 10
2.5 Voice-Controlled Robot 10
2.6 Camparison of Existing Solution 11
CHAPTER 3 OBJECTIVES 12
3.1 Primary Objectives 12
3.2 Secondary Objectives 13
CHAPTER 4 MOTIVATION 14
4.1 Importance of Robotics 14
4.2 Application of Multi-Functional Robot 14
4.3 Personal/Project Motivation 15
CHAPTER 5 METHODOLOGY 16
5.1 Components and Materials 16
5.1.1 Arduino UNO Board 16
5.1.2 L293D Motor Driver Shield 16
5.1.3 Ultrasonic Sensor 17
5.1.4 Bluetooth Module 17
5.1.5 Servo Motor 18
5.1.6 Gear Motor 18
5.1.7 Robot Wheel 19
5.1.8 Li-on Battery Holders and Batteries 19
5.1.9 Jumper Wires 20
5.1.10 Wooden Board 20
5.2 Hardware Assembling Instruction 20
5.2.1 Chassis Assembly 21
5.2.2 Sensor and Module Connection 22

Dept of CSE, MyCEM, Mysore 2 2023-2024

 Multi-Functional Arduino Robot Car Mini Project

5.2.3 Arduino Board and Battery Replacement 23

5.2.4 Final Touches 23
5.2.5 Step by Step Installation 24
5.3 Software Design 26
5.3.1 Programming Environment 26
5.3.2 Obstical Avoidance Algorithm 26
5.3.3 Bluetooth Control Logic 28
5.3.4 Voice Control Implementation 29
5.4 Integration 30
5.4.1 Testing and Debugging 31
CHAPTER 6 RESULTS 33
6.1 Obstical Avoidance Testing 33
6.1.1 Test Environment 33
6.1.2 Bluetooth Control Testing 34
6.1.3 Voice Control Testing 35
6.1.4 Circuit Diagram 36
6.1.5 Final Constructed Model 36
CONCLUSION 37
REFERENCES AND BIBLOGRAPHY 39

Dept of CSE, MyCEM, Mysore 3 2023-2024

Multi-Functional Arduino Robot Car Mini Project

LIST OF FIGURES

Figure No. Name of Figure Page No.

5.1.1 Arduino UNO Board 16
5.1.2 L293D Motor Driver Shield 17
5.1.3 Ultrasonic Sensor 17
5.1.4 Bluetooth Module 17
5.1.5 Servo Motor 18
5.1.6 Gear Motors 18
5.1.7 Robot Wheels 19
5.1.8 Li-on Battery Holders and Batteries 19
5.1.9 Jumper Wires 20
6.1.2 Bluetooth Control App Interface 34
6.1.4 Robot Circuit Diagram 36
6.1.5 Final Constructed Model 36

Dept of CSE, MyCEM, Mysore 4 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CHAPTER 1

INTRODUCTION

1.1 BACKGROUND

Robotics is a rapidly evolving field, continuously pushing the boundaries of what machines can
achieve. From industrial automation to household chores, robots are transforming the way we
interact with our environment. The advent of microcontrollers like the Arduino platform has
democratized access to robotics, allowing enthusiasts and professionals alike to build sophisticated
systems without the need for extensive background knowledge in electronics or programming.

The Arduino platform, with its open-source nature, vast community support, and extensive library
of components and modules, has become a cornerstone for DIY robotics projects. It bridges the gap
between hardware and software, providing an accessible yet powerful tool for innovation. As the
field progresses, there is a growing interest in multi-functional robots—robots capable of
performing a variety of tasks using different control mechanisms. Such versatility is crucial for
developing practical, adaptable robots that can operate in dynamic environments.

1.2 PURPOSE OF THE PROJECT

The purpose of this project is to design and build a multi-functional robot using the Arduino
platform. This robot will incorporate three primary functionalities: obstacle avoidance, Bluetooth
control, and voice control. Each of these functions represents a different mode of interaction and
operation, showcasing the flexibility and adaptability of the robot.

1. Obstacle Avoidance : The robot will navigate autonomously, detecting and avoiding obstacles in
its path using an ultrasonic sensor. This functionality is essential for applications where the robot
needs to operate without constant human supervision, such as in automated delivery systems or
exploration in hazardous environments.

Dept of CSE, MyCEM, Mysore 5 2023-2024

Multi-Functional Arduino Robot Car Mini Project

2. Bluetooth Control : Through Bluetooth connectivity, the robot can be remotely controlled using a
smartphone app. This feature allows for direct user input and manual operation, making it suitable
for tasks that require precise control or human intervention.

3. Voice Control : Integrating voice recognition capabilities, the robot will respond to specific voice
commands. This mode of control is particularly useful in hands-free scenarios and enhances the
robot's accessibility, especially for users with mobility impairments.

By integrating these functionalities into a single platform, the project aims to demonstrate the
potential of Arduino-based robots in performing diverse and complex tasks. The versatility of the
robot can inspire further developments in the field, encouraging more innovations in multi-
functional robotic systems.

1.3 OVERVIEW OF FUNCTIONALITIES

The multi-functional robot developed in this project will showcase three distinct functionalities:
obstacle avoidance, Bluetooth control, and voice control. Each of these functionalities will detailed
below:

1. Obstacle Avoidance :
 Ultrasonic Sensor : The robot employs an ultrasonic sensor to measure the distance to
obstacles in its path. By emitting ultrasonic waves and measuring the time it takes for the
echoes to return, the sensor can calculate the distance to objects.
 Algorithm : The robot will use a simple algorithm to determine its movement based on
sensor readings. If an obstacle is detected within a predefined range, the robot will stop,
reverse, and then turn left or right to avoid the obstacle before continuing its path.
 Autonomous Navigation : This functionality enables the robot to navigate autonomously in a
dynamic environment, making real-time decisions to avoid collisions.

Dept of CSE, MyCEM, Mysore 6 2023-2024

Multi-Functional Arduino Robot Car Mini Project

2. Bluetooth Control :
 Bluetooth Module : A Bluetooth module will be integrated into the robot, allowing it to
establish a wireless connection with a smartphone or tablet.
 Control App : A custom app will be developed for the smartphone, providing a user interface
to send commands to the robot. The app will have buttons for moving forward, backward,
left, right, and stopping the robot.
 Manual Operation : Users can manually control the robot's movements through the app,
offering precise control over its actions. This functionality is particularly useful for tasks
requiring human judgment and intervention.

3. Voice Control :
 Voice Recognition Module : The robot will include a voice recognition module capable of
processing and recognizing predefined voice commands.
 Command Execution : Upon recognizing a valid command, the robot will execute the
corresponding action (e.g., moving forward, turning, stopping).
 Hands-Free Operation : This mode of control allows users to operate the robot without
physical interaction, enhancing its usability in scenarios where hands-free operation is
advantageous.

The integration of these functionalities will be achieved through careful design and programming,
leveraging the flexibility and capabilities of the Arduino platform. Each functionality will be
modular, allowing for independent development and testing before combining them into the final
system. This approach ensures that the robot can perform reliably across different modes of
operation, demonstrating the practical applications of multi-functional robotics.

By the end of this project, the multi-functional robot will serve as a proof of concept for the
potential of Arduino-based systems in developing versatile and adaptable robotic solutions. This
project not only highlights the technical capabilities of the Arduino platform but also underscores
the importance of integrating multiple control methods to enhance the functionality and usability of
robots.

Dept of CSE, MyCEM, Mysore 7 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CHAPTER 2

LITERATURE REVIEW

2.1 HISTORY OF ROBOTICS

The history of robotics is rich and diverse, tracing back to ancient times when myths and legends
spoke of mechanical beings endowed with human-like capabilities. The term "robot" itself was first
coined in 1920 by the Czech writer Karel Čapek in his play "R.U.R." (Rossum's Universal Robots).
However, the conceptual roots of robotics stretch far earlier.
 Ancient Automata : Early examples of automated machines, or automata, can be found in
ancient Greece and China. These devices, often powered by water or steam, were designed
to perform simple tasks or entertain.
 Industrial Revolution : The Industrial Revolution in the 18th and 19th centuries marked a
significant advancement in automation. The development of steam engines and mechanized
looms paved the way for more complex machinery capable of performing repetitive tasks in
manufacturing.
 20th Century : The 20th century saw the birth of modern robotics. In 1954, George Devol
invented the first programmable robot, Unimate, which was later used in General Motors'
assembly lines. This era also saw the rise of artificial intelligence (AI), which greatly
influenced the development of autonomous robots.
 Recent Developments : Today, robotics encompasses a wide range of applications, from
industrial automation and medical surgery to space exploration and domestic assistance.
Advances in AI, machine learning, and sensor technology have propelled the capabilities of
robots, making them more intelligent and versatile.

2.2 OVERVIEW OF ARDUINO PLATFORM

The Arduino platform has revolutionized the field of DIY electronics and robotics by providing an
accessible and affordable way for enthusiasts and professionals to create interactive projects.

Dept of CSE, MyCEM, Mysore 8 2023-2024

Multi-Functional Arduino Robot Car Mini Project

 Introduction : Arduino is an open-source electronics platform based on easy-to-use hardware

and software. It was introduced in 2005 by Massimo Banzi and David Cuartielles, with the
aim of providing a simple tool for students and hobbyists to create digital devices.
 Components : An Arduino board consists of a microcontroller, input/output pins, a power
supply, and a USB interface. The most common boards are the Arduino Uno, Mega, and
Nano, each catering to different project needs.
 Programming : Arduino uses a simplified version of C++ for programming. The Arduino
Integrated Development Environment (IDE) allows users to write code, upload it to the
board, and monitor the outputs. The platform supports a vast array of libraries and shields,
enabling integration with sensors, motors, displays, and communication modules.
 Community and Resources : One of Arduino's strengths is its large and active community.
Numerous online resources, including tutorials, forums, and project repositories, provide
support and inspiration for users.

2.3 OBSTACLE AVOIDANCE IN ROBOTICS

Obstacle avoidance is a critical capability for autonomous robots, enabling them to navigate and
operate in dynamic environments without human intervention.
 Ultrasonic Sensors : Ultrasonic sensors are widely used in obstacle avoidance systems. They
emit ultrasonic waves and measure the time taken for the echoes to return, calculating the
distance to obstacles. This method is reliable and cost-effective, making it popular in mobile
robotics.
 Infrared Sensors : Infrared sensors detect obstacles by emitting infrared light and measuring
the reflection. While effective, they can be influenced by ambient light conditions.
 LIDAR and Vision Systems : More advanced robots use Light Detection and Ranging
(LIDAR) and vision systems for obstacle detection. LIDAR provides high-precision distance
measurements, while vision systems use cameras and image processing algorithms to
identify obstacles and navigate complex environments.
 Algorithms : Various algorithms, such as the Bug algorithm, Vector Field Histogram (VFH),
and Rapidly-exploring Random Tree (RRT), are employed to process sensor data and

Dept of CSE, MyCEM, Mysore 9 2023-2024

Multi-Functional Arduino Robot Car Mini Project

determine the robot's path. These algorithms balance the need for real-time responsiveness
with the computational limitations of the robot's hardware.

2.4 BLUETOOTH-CONTROLLED ROBOTS

Bluetooth technology provides a convenient and wireless means of controlling robots, offering
flexibility and ease of use.
 Bluetooth Modules : Bluetooth modules, such as the HC-05 and HC-06, are commonly used
in robotics. These modules facilitate wireless communication between the robot and a
smartphone or computer.
 Control Interfaces : Custom applications can be developed for smartphones to control robots
via Bluetooth. These apps typically provide a user-friendly interface with buttons and sliders
to send commands to the robot.
 Applications : Bluetooth-controlled robots are popular in educational and hobbyist projects.
They are used in remote-controlled vehicles, robotic arms, and home automation systems.
The wireless nature of Bluetooth allows for greater mobility and freedom of control.

2.5 VOICE-CONTROLLED ROBOTS

Voice control adds a layer of natural interaction to robots, allowing users to operate them through
spoken commands.
 Voice Recognition Modules : Voice recognition modules, like the Elechouse Voice
Recognition Module V3, enable robots to understand and respond to voice commands. These
modules process audio inputs and match them to predefined commands.
 Speech-to-Text Services : Cloud-based services, such as Google Assistant and Amazon
Alexa, provide advanced speech-to-text capabilities. These services can be integrated with
robots to leverage sophisticated natural language processing algorithms.
 Challenges : Voice-controlled robots face challenges related to ambient noise, speech
variability, and command recognition accuracy. Robust algorithms and noise-cancellation
techniques are essential for reliable performance.

Dept of CSE, MyCEM, Mysore 10 2023-2024

Multi-Functional Arduino Robot Car Mini Project

 Applications : Voice control is particularly useful in assistive robotics, where users with
mobility impairments can operate devices hands-free. It is also employed in smart home
systems, allowing users to control appliances and services through voice commands.

2.6 COMPARISON OF EXISTING SOLUTIONS

Comparing existing multi-functional robotic solutions provides insights into the strengths and
limitations of different approaches.
 Functionality : Multi-functional robots vary in their capabilities. Some focus on specific
tasks like obstacle avoidance or remote control, while others integrate multiple
functionalities. The effectiveness of each function depends on the sensors, actuators, and
algorithms used.
 Ease of Use : User-friendliness is a key factor. Robots with intuitive interfaces, such as
smartphone apps for Bluetooth control or simple voice commands, are more accessible to a
broader audience. Arduino-based robots benefit from the platform's simplicity and extensive
support resources.
 Cost and Accessibility : The cost of components and ease of assembly influence the adoption
of robotic solutions. Arduino projects are typically more affordable and accessible, making
them ideal for educational purposes and hobbyists.
 Performance : Performance metrics, such as response time, accuracy of obstacle detection,
and reliability of voice commands, vary across different solutions. Advanced systems with
LIDAR and AI-based voice recognition offer higher performance but at a higher cost and
complexity.

Dept of CSE, MyCEM, Mysore 11 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CHAPTER 3

OBJECTIVES

3.1 PRIMARY OBJECTIVES

The primary objectives of this project are focused on the development, functionality, and
performance of the multi-functional robot:

1. Develop a Multi-Functional Robot : Create a robot capable of performing obstacle avoidance,

Bluetooth control, and voice control functions using the Arduino platform.

2. Ensure Reliable Obstacle Avoidance : Implement an ultrasonic sensor-based system to detect and
avoid obstacles efficiently.

3. Enable Wireless Control via Bluetooth : Integrate a Bluetooth module to allow remote control of
the robot through a smartphone application.

4. Implement Voice Command Functionality : Develop a system for voice control, enabling the
robot to respond to specific voice commands using a Bluetooth-connected mobile app.

3.2 SECONDARY OBJECTIVES

The secondary objectives of this project address additional aspects that enhance the overall
usability, performance, and educational value of the robot:

1. Optimize Power Management : Ensure efficient power usage to maximize the operational time of
the robot.

Dept of CSE, MyCEM, Mysore 12 2023-2024

Multi-Functional Arduino Robot Car Mini Project

2. Simplify User Interaction : Design an intuitive user interface for both the Bluetooth control app
and voice command system to ensure ease of use.

3. Enhance Educational Value : Provide detailed documentation and resources to facilitate learning
and encourage educational use of the project.

4. Test and Validate Performance : Conduct thorough testing to evaluate the performance of the
robot in various conditions and refine the system based on test results.

Dept of CSE, MyCEM, Mysore 13 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CHAPTER 4

MOTIVATION

4.1 IMPORTANCE OF ROBOTICS

1. Advancements in Technology : Robotics has seen remarkable advancements, revolutionizing

various industries and aspects of daily life. The development of robotics technology is essential for
continued innovation and efficiency.

2. Impact on Various Industries : Robots play crucial roles in manufacturing, healthcare, space
exploration, and more, significantly improving productivity, safety, and precision.

3. Educational Value : Robotics education fosters critical thinking, problem-solving skills, and
interest in STEM fields among students and hobbyists.

4.2 APPLICATIONS OF MULTI-FUNCTIONAL ROBOTS

1. Home Automation : Multi-functional robots can be used in home automation for tasks like
cleaning, security, and personal assistance, improving the quality of life.

2. Search and Rescue : In emergency situations, multi-functional robots can assist in search and
rescue operations, accessing hazardous areas and providing vital information.

3. Medical Assistance : In the medical field, robots can assist in surgeries, patient care, and
rehabilitation, enhancing the precision and efficiency of healthcare services.

4. Entertainment and Education : Multi-functional robots serve educational and entertainment

purposes, making learning interactive and fun while demonstrating advanced technology.

Dept of CSE, MyCEM, Mysore 14 2023-2024

Multi-Functional Arduino Robot Car Mini Project

4.3 PERSONAL/PROJECT MOTIVATION

1. Passion for Robotics : The personal interest in robotics and technology drives the motivation to
explore and innovate in this field.

2. Solving Real-World Problems : The project is motivated by the desire to create practical solutions
to real-world problems, making technology more accessible and useful.

3. Educational Impact : Sharing knowledge and inspiring others through educational initiatives is a
key motivation behind the project.

Dept of CSE, MyCEM, Mysore 15 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CHAPTER 5

METHODOLOGY

5.1 COMPONENTS AND MATERIALS

5.1.1 Arduino UNO Board :

The Arduino UNO is the main microcontroller used for this project, providing the necessary
computational power and I/O pins for interfacing with various components. The Arduino Uno is
an open-source microcontroller based. on
The Microchip ATmega328P microcontroller (MCU) and
developed by Arduino.cc and initially released in
[2][3]
2010. The microcontroller 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.[1] 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.[4] It can be
powered by a USB cable or a barrel connector that accepts voltages between 7 and 20 volts, such as
a rectangular 9-volt battery. It has the same microcontroller as the Arduino Nano board, and the
same headers as the Leonardo board.[5][6] 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.

5.1.2 L293D Motor Driver Shield :

The L293D motor driver shield is used to control the motors, allowing the robot to move forward,
backward, and turn. L293D shield is a driver board based on L293 IC, which can drive 4 DC motors
and 2 stepper or Servo motors at the same time. Each channel of this module has a maximum

Dept of CSE, MyCEM, Mysore 16 2023-2024

Multi-Functional Arduino Robot Car Mini Project

current of 1.2A and doesn't work if the voltage is more than 25v or
less than 4.5v. The Arduino Motor Shield is based on the L298
(datasheet), which is a dual full-bridge driver designed to drive
inductive loads such as relays, solenoids, DC, and stepping motors. It
lets you drive two DC motors with your Arduino board, controlling the
speed and direction of each one independently.

5.1.3 Ultrasonic Sensor :

The ultrasonic sensor is used for obstacle detection, measuring the distance to objects in the robot's
path. An ultrasonic sensor is an electronic device that measures the distance of a target object by
emitting ultrasonic sound waves, and converts the reflected
sound into an electrical signal. Ultrasonic waves travel faster
than the speed of audible sound (i.e. the sound that humans
can hear). Ultrasonic sensors have two main components:
the transmitter (which emits the sound using piezoelectric
crystals) and the receiver (which encounters the sound after
it has travelled to and from the target). In order to calculate
the distance between the sensor and the object, the sensor measures the time it takes between the
emission of the sound by the transmitter to its contact with the receiver. The formula for this
calculation is D = ½ T x C (where D is the distance, T is the time, and C is the speed of sound ~ 343
meters/second).

5.1.4 Bluetooth Module :

The Bluetooth module allows for wireless communication

between the robot and a smartphone for control purposes.
Bluetooth module is a PCBA board which integrated Bluetooth
functions. Bluetooth module can be used in short-distance
wireless communication, which can be divided into the
Bluetooth module and Bluetooth voice module according to its

Dept of CSE, MyCEM, Mysore 17 2023-2024

Multi-Functional Arduino Robot Car Mini Project

usage. Bluetooth module is a basic circuit set of chip which integrated Bluetooth functions and
which can be used in wireless network transmission. Generally, the Bluetooth module can be
divided into the following types: data transmission module, remote control module, etc. Usually,
modules are the semi-finished products, which are processed on the basis of chips to make the next
application easier.

5.1.5 Servo Motor :

The servo motor is used to rotate the ultrasonic sensor to scan the environment for obstacles. A
servo motor is defined as an electric motor that provides precise control of
angular or linear position, speed, and torque using a feedback loop
system. The servo motor utilizes advanced control systems like PID and
fuzzy logic to adjust movement according to input and feedback signals
for optimal performance. Different types include AC and DC servo
motors, with subtypes like synchronous, asynchronous, brushed, and brushless, each tailored for
specific applications. Effective use of sensors such as potentiometers and encoders helps in precise
monitoring and adjustments of motor positions, speeds, or torques. Servo motors are crucial in high-
precision fields such as robotics, CNC machinery, and automated manufacturing for their ability to
handle complex motions and tasks.

5.1.6 Gear Motors :

Four gear motors are used to drive the robot's wheels, providing
the necessary torque and speed. A gear motor is a mechanical
device consisting of an electric motor and a gearbox, differing
from a DC motor for lower RPM and higher torque. Discover
more. Micro Motors specializes in the manufacture of miniature
gear motors, both with brushes and without brushes, and stepper motors. A gear motor is a
mechanical system consisting of an electric motor and a gearbox containing a series of gears.
The function of the gearbox coupled to the motor is to reduce its speed and increase its torque to do
a given job at a given speed. The addition of the gearbox on the motor and the extremely simple

Dept of CSE, MyCEM, Mysore 18 2023-2024

Multi-Functional Arduino Robot Car Mini Project

design that can be easily adapted to the customer’s needs, increases the usability of gear motors and
makes them highly versatile in any field of mechanical automation (industrial and home automation,
printers, vending machines, just to name a few applications). The motor can be with brushes,
brushless, or stepper.

5.1.7 Robot Wheels :

Four wheels are attached to the gear motors to facilitate movement. Wheeled robot are robot that
navigate around the ground using motorized wheels to propel themselves. This design is simpler
than using treads or legs and by using wheels they are easier to
design, build, and program for movement in flat, not-so-rugged
terrain. They are also more well controlled than other types of
robots. Disadvantages of wheeled robots are that they can not
navigate well over obstacles, such as rocky terrain, sharp declines,
or areas with low friction. Wheeled robots are most popular
among the consumer market, their differential steering provides low cost and simplicity. Robots can
have any number of wheels, but three wheels are sufficient for static and dynamic balance.
Additional wheels can add to balance; however, additional mechanisms will be required to keep all
the wheels in the ground, when the terrain is not flat.

5.1.8 Li-ion Battery Holder and Batteries :

The battery holder and Li-ion batteries provide the power needed to
operate the robot. A lithium-ion or Li-ion battery is a type of rechargeable
battery that uses the reversible intercalation of Li+ ions
into electronically conducting solids to store energy. In comparison with
other commercial rechargeable batteries, Li-ion batteries are characterized
by higher specific energy, higher energy density, higher energy efficiency,
a longer cycle life, and a longer calendar life. Also noteworthy is a
dramatic improvement in lithium-ion battery properties after their market introduction in 1991: during the
next 30 years, their volumetric energy density increased threefold while their cost dropped tenfold.

Dept of CSE, MyCEM, Mysore 19 2023-2024

Multi-Functional Arduino Robot Car Mini Project

5.1.9 Jumper Wires :

Jumper wires are used to make electrical connections between components. A jump wire (also
known as jumper, jumper wire, DuPont wire) is an electrical
wire, or group of them in a cable, with a connector or pin at
each end (or sometimes without them – simply "tinned"), which
is normally used to interconnect the components of
a breadboard or other prototype or test circuit, internally or with
other equipment or components, without soldering. Individual
jump wires are fitted by inserting their "end connectors" into
the slots provided in a breadboard, the header connector of a circuit board, or a piece of test
equipment.

5.1.10 Wooden Board :

Wooden board and cardboard are used to construct the robot's chassis and other structural elements.

5.2 HARDWARE ASSEMBLING INSTRUCTIONS

This robot will feature obstacle avoidance, Bluetooth control, and voice control functions. The
primary components include an Ultrasonic sensor, a Bluetooth module, and an L293D motor driver
shield. These instructions will guide you step-by-step through the hardware assembly process.
 Tools and Materials:-
 Screwdriver set
 Pliers (optional)
 Wire cutters/strippers
 Ruler or measuring tape
 Hot glue gun (optional)
 Double-sided tape (optional)

Dept of CSE, MyCEM, Mysore 20 2023-2024

Multi-Functional Arduino Robot Car Mini Project

 Zip ties (optional)

 Arduino UNO board x 1
 L293D motor driver x 1
 Ultrasonic sensor x 1
 Bluetooth module x 1
 Servo motor x 1
 Gear motor x 4
 Robot wheel x 4
 Li-ion battery holder x 1
 Li-ion battery x 2
 Jumper wires
 Foam board
 Cardboard

5.2.1 Chassis Assembly

1. Design and Preparation

 Layout Design: Create or refer to a layout design for motor and component placement.
Use a chassis template if provided.
 Cutting the Chassis: Use a foam board or cardboard to cut out the base of the chassis
according to your design.

2. Drilling and Cutting

 Drill Holes : Drill holes in the chassis for motor mounts, sensor mounts, and other
components. Ensure the holes are aligned properly for a secure fit.

3. Motor Mounting
 Mounting Motors : Secure the gear motors onto the chassis using screws and mounting
brackets. Ensure they are properly aligned for straight movement.

Dept of CSE, MyCEM, Mysore 21 2023-2024

Multi-Functional Arduino Robot Car Mini Project

4. Servo Motor Installation

 Install Servo Motor : Mount the servo motor on the chassis in the desired location, typically
for a pan-tilt mechanism for the ultrasonic sensor.

5. Motor and Wheel Attachment

 Wheel Attachment: Attach Wheels , Attach the robot wheels to the motor shafts. Depending
on the motor type, this might involve a press-fit design or using screws or lock nuts.

6. Motor Positioning
 Position Motors : Place the motors with attached wheels onto the chassis, ensuring the axles
are aligned for smooth rolling.

7. Secure Motors
 Secure Motors: Fix the motors to the chassis using screws through the mounting holes.
Double-check the alignment and stability.

5.2.2 Sensor and Module Connections

1. Connect Sensors and Modules

 Circuit Diagram : Refer to the provided circuit diagram to identify connection points for the
ultrasonic sensor, Bluetooth module, and other components.
 Wiring : Use jumper wires to connect sensors and modules to the Arduino board according
to the pin assignments. Ensure correct power (red) and ground (black) connections.

2. Secure Connections
 Hot Glue or Zip Ties : Secure jumper wire connections using a hot glue gun or zip ties to
prevent disconnections and for a cleaner look.

5.2.3 Arduino Board and Battery Placement

Dept of CSE, MyCEM, Mysore 22 2023-2024

Multi-Functional Arduino Robot Car Mini Project

1. Mounting the Arduino

 Position Arduino : Locate a stable position on the chassis for the Arduino board. Use double-
sided tape or zip ties to secure it.

2. Battery Connection
 Connect Battery : Connect the battery to the motor driver module or directly to the Arduino
board, ensuring correct polarity according to the circuit diagram.

3. Secure Battery
 Battery Holder : Secure the battery holder to the chassis using zip ties or straps to prevent it
from moving during operation.

5.2.4 Final Touches

1. Double-Check Connections.
 Review Connections : Verify all connections against the circuit diagram to ensure accuracy
and proper functionality.

2. Organize Wires
 Neaten Wiring : Organize and secure excess wires using zip ties or hot glue for a tidy and
professional finish.

3. Testing the Robot

 Upload Code : Upload the provided code to the Arduino board (refer to Section 5.2 for
coding details).
 Initial Test : Conduct an initial test to ensure the robot functions correctly, adjusting as
needed.

5.2.5 Step-by-Step Instructions

Dept of CSE, MyCEM, Mysore 23 2023-2024

Multi-Functional Arduino Robot Car Mini Project

Step 1: Identifying Components

1. Arduino UNO board : The main microcontroller board.
2. L293D motor driver shield : Controls the motors.
3. Ultrasonic sensor : Detects obstacles.
4. Bluetooth module : Allows for Bluetooth communication.
5. Servo motor : Controls movement of the ultrasonic sensor.
6. Gear motors : Drives the wheels.
7. Robot wheels : Enables movement.
8. Li-ion battery holder and batteries : Powers the robot.
9. Jumper wires : Connect components.
10. Foam board : Base chassis.

Step 2: Cutting the Foam Board

1. Marking : Mark the foam board to the required dimensions for your robot base.
2. Cutting : Use a sharp utility knife to cut out the base from the foam board.

Step 3: Gluing Gear Motors

1. Position Motors : Place the gear motors on the marked positions on the foam board.
2. Glue Motors : Secure the gear motors to the foam board using a hot glue gun. Ensure they are
firmly attached and properly aligned.

Step 4: Attaching Motor Shield and Arduino

1. Mount Shield : Attach the L293D motor driver shield to the Arduino UNO board.
2. Secure to Chassis : Glue the Arduino and motor shield assembly to the foam board chassis.

Step 5: Wiring Gear Motors

1. Drill Holes : Create two small holes on either side of the Arduino board.
2. Insert Wires : Pass the gear motor wires through these holes to the underside of the board.

Step 6: Connecting Motors to Motor Driver Shield

Dept of CSE, MyCEM, Mysore 24 2023-2024

Multi-Functional Arduino Robot Car Mini Project

1. Wiring Motors : Connect the gear motor wires to the appropriate terminals on the L293D motor
driver shield according to the circuit diagram.

Step 7: Attaching Servo Motor and Ultrasonic Sensor

1. Mount Servo : Attach the servo motor to the chassis at the designated location.
2. Install Sensor : Mount the ultrasonic sensor onto the servo motor.

Step 8: Wiring Servo Motor and Ultrasonic Sensor

1. Connect Servo : Wire the servo motor to the Arduino and motor driver shield as per the circuit
diagram.
2. Connect Sensor : Wire the ultrasonic sensor to the Arduino, ensuring correct pin connections.

Step 9: Connecting Bluetooth Module

1. Wiring Bluetooth : Connect the Bluetooth module to the appropriate pins on the motor driver
shield.
2. Secure Module : Glue the Bluetooth module to the chassis.

Step 10: Gluing Battery Holder and Connecting Battery

1. Secure Holder : Glue the battery holder to the foam board chassis.
2. Connect Battery : Connect the battery to the motor driver shield, ensuring correct polarity.

Step 11: Attaching Robot Wheels

1. Attach Wheels: Fix the wheels onto the gear motor shafts.
2. Insert Batteries : Place the batteries into the battery holder.

By following these detailed steps, you will successfully assemble a multi-functional Arduino robot.
Once the hardware is assembled, proceed to upload the provided code to the Arduino board and test
each functionality: obstacle avoidance, Bluetooth control, and voice control. Ensure all components
are securely attached and connections are properly made to enjoy your new robot!

Dept of CSE, MyCEM, Mysore 25 2023-2024

Multi-Functional Arduino Robot Car Mini Project

5.3 SOFTWARE DESIGN

The software design for the multi-functional robot project encompasses the development and
implementation of the control algorithms, user interfaces, and integration of various functionalities.
This section outlines the key components and methodologies involved in the software design
process.

5.3.1 Programming Environment

The programming environment for the project includes the Arduino Integrated Development
Environment (IDE) and the necessary libraries to interface with the hardware components. The
Arduino IDE provides a user-friendly platform for writing, compiling, and uploading code to the
Arduino UNO board.
IDE and Libraries : The primary programming language used is C++, and several libraries such as
‘NewPing` for ultrasonic sensors, `Servo` for controlling the servo motor, and `SoftwareSerial` for
Bluetooth communication were utilized.

5.3.2 Obstacle Avoidance Algorithm

The obstacle avoidance functionality is implemented using an ultrasonic sensor to detect obstacles
and a set of predefined navigation rules to maneuver around them. The algorithm continuously
monitors the distance to obstacles and adjusts the robot's direction based on proximity.
1. Sensor Initialization : Initialize the ultrasonic sensor and set the trigger and echo pins.
2. Distance Measurement : Continuously measure the distance to obstacles using the sensor.
3. Navigation Decision : Based on the distance readings, decide whether to move forward, stop, or
turn.
4. Motor Control : Send commands to the motor driver shield to execute the navigation decisions.
5. Pseudocode :
void Obstacle() {
distance = ultrasonic();

Dept of CSE, MyCEM, Mysore 26 2023-2024

Multi-Functional Arduino Robot Car Mini Project

if ((distance >1)&&(distance <= 30)) {

Stop();
delay(1000);
backward();
delay(100);
Stop();
delay(1000);
L = leftsee();
servo.write(spoint);
delay(800);
R = rightsee();
servo.write(spoint);
if (L < R) {
right();
delay(500);
Stop();
delay(200);
} else if (L > R) {
left();
delay(500);
Stop();
delay(200);
}
} else {
forward();
}
}

Dept of CSE, MyCEM, Mysore 27 2023-2024

Multi-Functional Arduino Robot Car Mini Project

5.3.3 Bluetooth Control Logic

The Bluetooth control functionality allows users to control the robot via a smartphone app. The
logic involves setting up a Bluetooth module to receive commands and mapping these commands to
specific actions.
1. Bluetooth Initialization : Set up the Bluetooth module and establish a serial connection.
2. Command Reception : Continuously listen for incoming commands from the smartphone.
3. Command Parsing : Parse the received commands and map them to corresponding actions.
4. Action Execution : Execute the actions by sending commands to the motor driver shield.
5. Pseudocode :
void Bluetoothcontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
}
if (value == 'F') {
forward();
} else if (value == 'B') {
backward();
} else if (value == 'L') {
left();
} else if (value == 'R') {
right();
} else if (value == 'S') {
Stop();
}
}

Dept of CSE, MyCEM, Mysore 28 2023-2024

Multi-Functional Arduino Robot Car Mini Project

5.3.4 Voice Control Implementation

The voice control functionality is implemented using a voice recognition module. The module is
trained to recognize a set of predefined voice commands, which are then used to control the robot.
1. Voice Module Initialization : Set up the voice recognition module and train it with the desired
commands.
2. Command Recognition : Continuously listen for voice commands and match them with the
trained commands.
3. Command Execution : Execute the corresponding actions based on the recognized commands.
5. Pseudocode :
void voicecontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
if (value == '^') {
forward();
} else if (value == '-') {
backward();
} else if (value == '<') {
L = leftsee();
servo.write(spoint);
if (L >= 10 ) {
left();
delay(500);
Stop();
} else if (L < 10) {
Stop();
}
} else if (value == '>') {
R = rightsee();
servo.write(spoint);

Dept of CSE, MyCEM, Mysore 29 2023-2024

Multi-Functional Arduino Robot Car Mini Project

if (R >= 10 ) {
right();
delay(500);
Stop();
} else if (R < 10) {
Stop();
}
} else if (value == '*') {
Stop();
}
}
}

5.4 Integration

Combining all functionalities into a cohesive system involves integrating the obstacle avoidance,
Bluetooth control, and voice control logic. The integration ensures that the robot can seamlessly
switch between different control modes and handle multiple inputs.
1. Mode Selection : Implement a mechanism to switch between different control modes (e.g.,
obstacle avoidance, Bluetooth control, voice control). This can be done using a state machine or
conditional statements.
2. Unified Command Processing : Ensure that commands from different control methods
(Bluetooth, voice) are processed correctly and that priority is managed effectively.
3. Error Handling : Implement error handling to manage conflicts between different inputs and
ensure smooth operation.
5. Pseudocode :
void loop() {
// Check and set the control mode
if (Bluetooth.available()) {
char mode = Bluetooth.read();
switch (mode) {

Dept of CSE, MyCEM, Mysore 30 2023-2024

Multi-Functional Arduino Robot Car Mini Project

case 'O': currentMode = OBSTACLE_AVOIDANCE; break;

case 'B': currentMode = BLUETOOTH_CONTROL; break;
case 'V': currentMode = VOICE_CONTROL; break;
}
}
// Execute the function based on the current mode
switch (currentMode) {
case OBSTACLE_AVOIDANCE: Obstacle(); break;
case BLUETOOTH_CONTROL: BluetoothControl(); break;
case VOICE_CONTROL: VoiceControl(); break;
}
}

5.4.1 Testing and Debugging

Testing and debugging are crucial steps to ensure the functionality and reliability of the robot. This
involves running the robot in different environments, identifying issues, and refining the software.
1. Unit Testing : Test individual components (e.g., obstacle avoidance, Bluetooth control) separately
to ensure they work as expected.
2. Integration Testing : Test the combined system to ensure all functionalities work together
seamlessly.
3. Field Testing : Run the robot in real-world scenarios to evaluate its performance and robustness.
4. Debugging : Identify and fix bugs or issues that arise during testing. Use debugging tools and
serial print statements to trace and resolve problems.
5. Example Debugging Code :
void Obstacle() {
int distance = measureDistance();
Serial.print("Distance: ");
Serial.println(distance);
if (distance < SAFE_DISTANCE) {
stop();

Dept of CSE, MyCEM, Mysore 31 2023-2024

Multi-Functional Arduino Robot Car Mini Project

turnRight();
} else {
moveForward();
}
}

Dept of CSE, MyCEM, Mysore 32 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CHAPTER 6

RESULTS

6.1 OBSTACLE AVOIDANCE TESTING

Obstacle avoidance testing was conducted to evaluate the robot's ability to navigate autonomously
while avoiding obstacles. The test environment was set up with various obstacles placed at different
distances from the robot's path.

6.1.1 Test Environment

The test environment consisted of a controlled indoor space with obstacles such as boxes and walls
arranged in a maze-like configuration. This environment allowed for systematic testing of the
robot's obstacle detection and navigation capabilities.

1.mPerformance Analysis
During testing, the robot successfully detected obstacles using the ultrasonic sensor and adjusted its
path accordingly. The performance was evaluated based on:
 Detection Accuracy : The robot accurately measured distances to obstacles using the
ultrasonic sensor.
 Response Time : The time taken by the robot to detect an obstacle and change its direction
was measured and optimized.
 Navigation Efficiency : The robot's ability to navigate through the maze while avoiding
collisions was assessed.

2.,Issues and Solutions

Several issues were encountered during obstacle avoidance testing, including:
Sensor Calibration : Initial calibration issues with the ultrasonic sensor affected distance accuracy.

Dept of CSE, MyCEM, Mysore 33 2023-2024

Multi-Functional Arduino Robot Car Mini Project

 Path Planning : Challenges in optimizing the robot's path to navigate complex obstacle
configurations.
 Solution : Implemented calibration routines and improved path planning algorithms to
enhance obstacle avoidance performance.

6.1.2 Bluetooth Control Testing

Bluetooth control testing involved assessing the robot's responsiveness to commands sent from a
smartphone application via Bluetooth. The goal was to evaluate the reliability and real-time
response of the robot to user inputs.

1.,App Interface
The smartphone app interface allowed users to control the robot's movements using directional
buttons (forward, backward, left, right) and a stop button. The app communicated with the robot via
Bluetooth to send commands.

Figure 6.1.2: Bluetooth Control App Interface

Dept of CSE, MyCEM, Mysore 34 2023-2024

Multi-Functional Arduino Robot Car Mini Project

2.,Response Time and Accuracy

Testing focused on measuring the response time between command transmission from the app and
execution by the robot. Accuracy was assessed based on the robot's ability to precisely follow the
user's commands without delay or misinterpretation.

3.,User Feedback
Feedback from users during testing sessions highlighted aspects such as ease of use, responsiveness
of controls, and suggestions for improvement in user interface design.

6.1.3 Voice Control Testing

Voice control testing involved implementing a voice recognition system to enable hands-free
operation of the robot. The system recognized predefined voice commands to control movement and
stop functions.

1.,Voice Command Recognition

The voice recognition module was trained to recognize commands such as "forward," "backward,"
"left," "right," and "stop." Recognition accuracy and reliability were key metrics evaluated during
testing.

2.,Performance in Different Environments

Testing was conducted in various acoustic environments to assess the module's performance under
different noise levels and background conditions.

3.,Limitations and Improvements

Limitations identified during voice control testing included occasional misinterpretation of
commands in noisy environments or with non-standard speech patterns.
 Improvements : Future work will focus on enhancing the module's vocabulary and
robustness against ambient noise.
 The testing and evaluation of the multi-functional robot demonstrated its capability to
perform autonomous obstacle avoidance, respond to Bluetooth commands, and operate via

Dept of CSE, MyCEM, Mysore 35 2023-2024

Multi-Functional Arduino Robot Car Mini Project

voice control. Each functionality was assessed for performance, accuracy, and user
interaction, providing valuable insights for future improvements and applications.
6.1.4 Circuit Diagram

The construction of the robot involved assembling various components and connecting them
according to the following circuit diagram:

Figure 6.1.4: Robot Circuit Diagram

6.1.5 Final Constructed Model:-

Figure 6.1.5: Final Constructed Model

Dept of CSE, MyCEM, Mysore 36 2023-2024

Multi-Functional Arduino Robot Car Mini Project

CONCLUSION

Summary of Findings

In this project, we successfully designed and implemented a multi-functional robot using the
Arduino platform. The robot's functionalities include obstacle avoidance, Bluetooth control, and
voice control, each of which was thoroughly tested and analyzed. The results indicated that the
robot effectively avoided obstacles, responded accurately to Bluetooth commands, and recognized
voice commands with a high degree of accuracy. However, some limitations, such as performance
in noisy environments for voice control, were noted.

Achievements

1. Obstacle Avoidance : The robot demonstrated reliable obstacle detection and navigation using the
ultrasonic sensor.

2. Bluetooth Control : The robot responded promptly to commands sent via the smartphone app,
showcasing the effectiveness of the Bluetooth module.

3. Voice Control : The robot accurately recognized and executed voice commands, indicating the
successful integration of voice control functionality..

4. Overall Integration : The project successfully integrated all three control methods into a cohesive
system, demonstrating versatility and functionality.

Future Work and Improvements

1. Enhanced Voice Recognition : Improve the voice control system's robustness in noisy
environments by using more advanced speech recognition algorithms.

Dept of CSE, MyCEM, Mysore 37 2023-2024

Multi-Functional Arduino Robot Car Mini Project

2. Advanced Obstacle Avoidance : Implement more sophisticated algorithms for obstacle

avoidance, such as using machine learning to predict and navigate complex environments.

3. Extended Battery Life : Optimize the power consumption of the robot to extend its operational
time, possibly by using more efficient motors or a better power management system.

4. User-Friendly Interface : Develop a more intuitive and user-friendly app interface for Bluetooth
and voice control, potentially including customization options for commands and controls.

5. Additional Sensors and Features : Integrate additional sensors (e.g., infrared, camera) and
functionalities (e.g., remote monitoring, autonomous navigation) to expand the robot's capabilities.

Dept of CSE, MyCEM, Mysore 38 2023-2024

Multi-Functional Arduino Robot Car Mini Project

REFERENCES AND BIBLOGRAPHY

1. www.google.com
2. www.srituhobby.com
3. www.wikipedia.com

Dept of CSE, MyCEM, Mysore 39 2023-2024