Step 1: Understanding the Basic Components

1. Microcontroller: The brain of the robot, typically an Arduino, Raspberry Pi, or similar
device.
2. Motors and Motor Drivers: Used for movement, typically DC motors with motor
drivers like L298N.
3. Power Supply: Batteries to power the robot.
4. Sensors: Sensors are crucial for detecting and following the human. Commonly used
sensors include:
o Ultrasonic Sensors: Measure distance by sending and receiving sound waves.
o Infrared (IR) Sensors: Detect obstacles or track objects.
o LIDAR: For more advanced distance and object detection.
o Camera with Computer Vision: For more sophisticated tracking.
5. Transmitters and Receivers: Used for wireless communication between the robot and
external devices, or for processing sensor data.
o RF Modules: For basic remote control.
o Bluetooth: For communication with a smartphone.
o Wi-Fi: For more advanced communication and remote monitoring.
o Zigbee: For low-power, long-range communication.

Step 2: Design the Robot

1. Chassis Assembly: Mount the motors on the chassis and connect the wheels. Attach the
motor driver to the chassis.
2. Mount Sensors: Place the sensors at the appropriate locations. For example, ultrasonic
sensors should be placed at the front to detect obstacles and measure distance to the
human.
3. Microcontroller Setup: Mount the microcontroller on the chassis, ensuring that it's
securely attached. Connect the microcontroller to the motor driver, sensors, and any other
peripherals.

Step 3: Transmitter and Receiver Configuration

1. Using RF Modules (e.g., 433MHz Transmitter and Receiver):

o Transmitter: Sends control signals (like moving forward, backward, left, right)
to the robot.
o Receiver: Receives signals and passes them to the microcontroller.

Connections:

o Connect the transmitter to a control device (like another microcontroller or

remote).
o Connect the receiver to the microcontroller’s input pins
CODE:
#include <VirtualWire.h>

void setup() {

Serial.begin(9600);

vw_set_rx_pin(2); // Set pin 2 as the receiver input

vw_setup(2000); // Bits per second

vw_rx_start(); // Start the receiver PLL

void loop() {

uint8_t buf[VW_MAX_MESSAGE_LEN];

uint8_t buflen = VW_MAX_MESSAGE_LEN;

if (vw_get_message(buf, &buflen)) { // Non-blocking

int i;

for (i = 0; i < buflen; i++) {

Serial.print(buf[i]);

Serial.println("");

}
2) Using Bluetooth Modules (e.g., HC-05):

 Transmitter and Receiver: The Bluetooth module handles both transmitting and
receiving data.
 Use a smartphone app or another Bluetooth-enabled device to control the robot.

Connections:

 Connect the HC-05 module to the microcontroller (TXD to RX, RXD to TX).

Code Example:

#include <SoftwareSerial.h>

SoftwareSerial BTSerial(10, 11); // RX | TX

void setup() {

Serial.begin(9600);

BTSerial.begin(9600);

void loop() {

if (BTSerial.available()) {

char c = BTSerial.read();

Serial.write(c);

if (c == 'F') { // Move Forward

// Add code to move forward

 } else if (c == 'B') { // Move Backward

// Add code to move backward

} else if (c == 'L') { // Turn Left

// Add code to turn left

} else if (c == 'R') { // Turn Right

// Add code to turn right

3) Using Wi-Fi Modules (e.g., ESP8266 or ESP32):

 Transmitter and Receiver: Both are integrated into the Wi-Fi module. The robot can be
controlled over the network.
 This allows for more complex operations, like streaming video from a camera, using
computer vision algorithms, or remote control via a web interface.

Connections:

 Connect the Wi-Fi module to the microcontroller. It can also function as the
microcontroller itself (ESP32).

Code Example:

#include <ESP8266WiFi.h>

const char* ssid = "your_SSID";

const char* password = "your_PASSWORD";

void setup() {
 Serial.begin(115200);

WiFi.begin(ssid, password);

while (WiFi.status() != WL_CONNECTED) {

delay(1000);

Serial.println("Connecting...");

Serial.println("Connected");

void loop() {

// Code to send/receive data over Wi-Fi

Step 4: Programming the Robot for Human Following

1. Sensor Data Processing:

o Use the sensors to detect the distance and direction of the human.
o Process the data and decide the robot's movement (forward, backward, stop, turn).

Example with Ultrasonic Sensor:

CODE:

const int trigPin = 9;

const int echoPin = 10;

void setup() {

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

Serial.begin(9600);

void loop() {

long duration, distance;

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration * 0.034) / 2;

if (distance < 20) {

// Move forward

} else if (distance > 50) {

// Move backward

} else {
 // Stop

3) Movement Control:

se the motor driver to control the motors based on sensor input:

const int motorPin1 = 3;

const int motorPin2 = 4;

const int enablePin = 5;

void setup() {

pinMode(motorPin1, OUTPUT);

pinMode(motorPin2, OUTPUT);

pinMode(enablePin, OUTPUT);

digitalWrite(enablePin, HIGH);

void loop() {

// Example to move forward

digitalWrite(motorPin1, HIGH);

digitalWrite(motorPin2, LOW);

}
 2nd Method:

 Objective: Build a robot that can follow a human using an ultrasonic sensor for distance
measurement and a Bluetooth module for remote control via a smartphone.
 Components:
o Arduino Uno (or similar microcontroller)
o L298N Motor Driver Module
o DC Motors (with wheels)
o Ultrasonic Sensor (HC-SR04)
o Bluetooth Module (HC-05)
o Chassis
o 12V Battery Pack
o Jumper Wires

Step 1: Assemble the Hardware

1. Chassis Setup:
o Attach the DC motors to the chassis.
o Mount the wheels on the motors.
o Attach the motor driver module to the chassis.
2. Ultrasonic Sensor Placement:
o Place the HC-SR04 ultrasonic sensor at the front of the robot to measure the
distance from the human.
3. Arduino and Bluetooth Module:
o Mount the Arduino on the chassis.
o Attach the HC-05 Bluetooth module to the Arduino.
4. Connections:
o Motor Driver (L298N):
 IN1 to Arduino Pin 8
 IN2 to Arduino Pin 9
 IN3 to Arduino Pin 10
 IN4 to Arduino Pin 11
 ENA to Arduino Pin 5 (for speed control of motor 1)
 ENB to Arduino Pin 6 (for speed control of motor 2)
 OUT1 and OUT2 to one motor
 OUT3 and OUT4 to another motor
 Connect VCC and GND to the battery pack
o Ultrasonic Sensor (HC-SR04):
 VCC to Arduino 5V
 GND to Arduino GND
 Trig to Arduino Pin 7
 Echo to Arduino Pin 6
 o Bluetooth Module (HC-05):
 VCC to Arduino 5V
 GND to Arduino GND
 TXD to Arduino Pin 2 (RX)
 RXD to Arduino Pin 3 (TX)

Step 2: Arduino Code

Below is the complete Arduino code for the human-following robot with Bluetooth control. The
code reads distance data from the ultrasonic sensor and commands the motors accordingly. The
Bluetooth module allows remote control via a smartphone.

CODE:

#include <AFMotor.h>

#include <NewPing.h>

#include <SoftwareSerial.h>

// Motor connections to the L298N

#define ENA 5

#define ENB 6

#define IN1 8

#define IN2 9

#define IN3 10

#define IN4 11

// Ultrasonic sensor pins

#define TRIG_PIN 7
#define ECHO_PIN 6

// Bluetooth module pins

#define RX_PIN 2

#define TX_PIN 3

#define MAX_DISTANCE 200 // Max distance for the ultrasonic sensor

SoftwareSerial BTSerial(RX_PIN, TX_PIN); // RX | TX

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); //

Initialize ultrasonic sensor

void setup() {

pinMode(IN1, OUTPUT);

pinMode(IN2, OUTPUT);

pinMode(IN3, OUTPUT);

pinMode(IN4, OUTPUT);

pinMode(ENA, OUTPUT);

pinMode(ENB, OUTPUT);

Serial.begin(9600); // Initialize serial communication for debugging

 BTSerial.begin(9600); // Initialize Bluetooth communication

void loop() {

long distance = sonar.ping_cm(); // Measure distance in cm

if (distance > 0 && distance < 30) {

moveForward(); // Move forward if the human is detected within 30

cm

} else if (distance > 30 && distance < 100) {

moveBackward(); // Move backward if the human is detected between

30 cm and 100 cm

} else {

stopMotors(); // Stop if no human is detected

if (BTSerial.available()) {

char command = BTSerial.read(); // Read the command from

Bluetooth

if (command == 'F') {

moveForward();

} else if (command == 'B') {

 moveBackward();

} else if (command == 'L') {

turnLeft();

} else if (command == 'R') {

turnRight();

} else if (command == 'S') {

stopMotors();

// Functions to control the motors

void moveForward() {

digitalWrite(IN1, HIGH);

digitalWrite(IN2, LOW);

digitalWrite(IN3, HIGH);

digitalWrite(IN4, LOW);

analogWrite(ENA, 200); // Speed control

analogWrite(ENB, 200); // Speed control

}
void moveBackward() {

digitalWrite(IN1, LOW);

digitalWrite(IN2, HIGH);

digitalWrite(IN3, LOW);

digitalWrite(IN4, HIGH);

analogWrite(ENA, 200); // Speed control

analogWrite(ENB, 200); // Speed control

void turnLeft() {

digitalWrite(IN1, LOW);

digitalWrite(IN2, HIGH);

digitalWrite(IN3, HIGH);

digitalWrite(IN4, LOW);

analogWrite(ENA, 150); // Speed control

analogWrite(ENB, 150); // Speed control

void turnRight() {
 digitalWrite(IN1, HIGH);

digitalWrite(IN2, LOW);

digitalWrite(IN3, LOW);

digitalWrite(IN4, HIGH);

analogWrite(ENA, 150); // Speed control

analogWrite(ENB, 150); // Speed control

void stopMotors() {

digitalWrite(IN1, LOW);

digitalWrite(IN2, LOW);

digitalWrite(IN3, LOW);

digitalWrite(IN4, LOW);

Step 3: Smartphone Control via Bluetooth

To control the robot using Bluetooth, you can use a Bluetooth terminal app available on Android
or iOS. You can send the following commands to the robot:

 F: Move Forward
 B: Move Backward
 L: Turn Left
 R: Turn Right
 S: Stop