Smart Wheelchair using Arduino UNO

Sojib Chandra Sarkar1, Md. Tamim1, Bushra Ahmed1

1
Department of EEE, University of Liberal Arts Bangladesh, Dhaka-1207, Bangladesh

Email: [email protected], [email protected], [email protected]

Abstract— The Smart Arduino Wheelchair is a ground- the fullest by embodying the values of inclusivity and
breaking development in assistive technology that accessibility.
combines voice control, Bluetooth functionality, and
obstacle avoidance to improve mobility for those with
disabilities. The wheelchair automatically maneuvers I. METHODOLOGY
around obstructions using ultrasonic sensors,
guaranteeing secure and effective mobility in a variety of The development process of the Smart Arduino Wheelchair,
settings. Voice control technology makes it easy for users which is obstacle-avoiding, voice-controlled, and Bluetooth-
to operate the wheelchair by voicing commands, making enabled, consists of three fundamental steps.
it accessible to anyone with disabilities. Having Bluetooth
connectivity allows for even more convenient use by A. Obstacle Avoiding
allowing remote control through a smartphone app. The
Smart Arduino Wheelchair dramatically enhances users' The development of an obstacle-avoiding Smart Arduino
quality of life by enabling them to move confidently and Wheelchair involves several steps to ensure its
easily about, promoting inclusivity, dignity, and functionality and effectiveness. First, ultrasonic sensors
empowerment. are positioned strategically on the wheelchair to detect
obstacles within its path. These sensors emit ultrasonic
Keywords-- Obstacle avoiding, voice command, Bluetooth waves and measure the time it takes for the waves to
control bounce back, determining the distance to nearby objects.
The Arduino microcontroller processes the sensor data,
calculating the proximity of obstacles and deciding the
Introduction appropriate action. When an obstacle is detected, the
wheelchair stops and evaluates the direction of the
The Smart Arduino Wheelchair is a groundbreaking obstruction. Based on this assessment, it may adjust its
mobility solution that provides users with obstacle course or maneuver around the obstacle. This
avoidance, voice control which operates via an exaggerated methodology ensures that the wheelchair can navigate
system, and the capacitive Smart Arduino Wheelchair. This safely through various environments, avoiding collisions
mobility solution is designed to provide an unprecedented and providing greater independence for users. By
level of experience and freedom for individuals with utilizing obstacle avoidance technology, the Smart
mobility impairments. Firstly, the capacitive Smart Arduino Arduino Wheelchair enhances mobility and reduces the
Wheelchair enables users to navigate smoothly in any risk of accidents, allowing users to move confidently and
environment thanks to the wheelchair’s ability to freely in their surroundings.
automatically detect and circumvent any obstacle in real-
time. Voice control, on the other hand, allows users to B. Voice Control
quickly control the wheelchair by issuing spoken The development of a voice-controlled Smart Arduino
commands, an aspect that particularly appeals to users with Wheelchair involves several key steps to ensure its
limited mobility in their hands. Lastly, the Bluetooth feature functionality and usability. First, a microphone is integrated
allows for the smartphone-controlled wheelchair, ensuring into the wheelchair to capture voice commands from the
that users can conveniently adjust its speed, direction, and user. These commands are then processed by the Arduino
enable the chair’s other features. The Smart Arduino microcontroller, which is programmed to recognize specific
Wheelchair offers a new level of convenience and freedom phrases or keywords. Once a voice command is received, the
rather than a locomotion aid, thereby transforming its use for Arduino interprets the command and executes the
corresponding action, such as moving forward, backward,
users. It gives people with disabilities a sense of strength
turning left, or turning right. This is achieved by controlling
and dignity by encouraging their independence and the wheelchair's motors based on the user's instructions. The
autonomy. Users are no longer dependent on help from voice control system is designed to be intuitive and user-
others to navigate the world, allowing them to engage more friendly, allowing individuals with limited mobility or
fully in daily activities and social interactions. All things dexterity to operate the wheelchair effortlessly. By
considered, the Smart Arduino Wheelchair is a revolutionary eliminating the need for manual controls, the voice-
tool that not only increases mobility but also elevates the controlled Smart Arduino Wheelchair enhances accessibility
general wellbeing and standard of living for those with and independence for users, empowering them to navigate
impairments. It gives its users new opportunity to live life to their surroundings with ease and confidence.
C. Bluetooth Control
The development of the Bluetooth-controlled Smart
Arduino Wheelchair follows a systematic approach to ensure
effective integration and functionality. Firstly, the hardware
setup involves integrating a Bluetooth module into the
wheelchair's system to establish wireless communication.
The Arduino microcontroller is programmed to manage the
Bluetooth connection and interpret commands from a custom
smartphone application. The uniqueness of this approach lies
in the development of an innovative smartphone application
tailored for seamless wheelchair control. Utilizing Bluetooth
Low Energy (BLE) technology, the application facilitates
intuitive command transmission to the Arduino Figure. 3: Ultra-sonic Sensor
microcontroller. The microcontroller, equipped with motor
control algorithms, translates received commands into
precise wheelchair movements, including forward, backward,
left, and right turns. This methodology emphasizes user-
centric design, ensuring the app's interface is intuitive and
accessible for users with varying degrees of mobility.
Through this unique combination of hardware and software,
the Bluetooth-controlled Smart Arduino Wheelchair provides
users with unparalleled freedom and independence in
navigating their environment.
D. Components Used

Figure. 4: Bluetooth Module

Figure. 1; Arduino UNO

Figure. 5: Servo Motor

Figure. 2: Motor Driver

Figure. 6: Gear Motor

E. Procedure
a) To begin, cut the piece of cardboard to the shape of
a wheelchair, then fasten the four gear motors to
the board.
b) After that, drill two holes on either side of the
Arduino board, insert the gear motor wire through
 them, and glue the motor driver to the Arduino pinMode(Trig, OUTPUT);
board and card board. pinMode(Echo, INPUT);
c) Next, attach the servo motor and ultrasonic sensor servo.attach(motor);
in the following manner, then link the motors to the M1.setSpeed(Speed);
motor driver. M2.setSpeed(Speed);
d) Next, utilize the circuit schematic above to connect M3.setSpeed(Speed);
the ultrasonic sensor and the servo motor. M4.setSpeed(Speed);
e) Next, attach the robot wheels, glue the battery }
holder to the driver, connect the Bluetooth module void loop() {
to the motor driver, and insert the batteries into the
battery holder. //Obstacle();
f) Lastly, create a program for this project that //Bluetoothcontrol();
includes all three functions (obstacle avoiding, //voicecontrol();
Bluetooth control and voice control). }
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();
}

Figure. 1: circuit diagram of this smart wheelchair.

F. Code
/*obstacle avoiding, Bluetooth control,
voice control robot car.
https://srituhobby.com
*/
#include <Servo.h>
#include <AFMotor.h>
#define Echo A0
#define Trig A1
#define motor 10
#define Speed 170
#define spoint 103
char value;
int distance;
int Left;
int Right;
int L = 0;
int R = 0;
int L1 = 0;
int R1 = 0;
Servo servo;
AF_DCMotor M1(1);
AF_DCMotor M2(2);
AF_DCMotor M3(3);
AF_DCMotor M4(4);
void setup() {
Serial.begin(9600);
backward(); }
} else if (value == '<') { void Obstacle() {
L = leftsee(); distance = ultrasonic();
servo.write(spoint); if (distance <= 12) {
if (L >= 10 ) { Stop();
left(); backward();
delay(500); delay(100);
Stop(); Stop();
} else if (L < 10) { L = leftsee();
Stop(); servo.write(spoint);
} delay(800);
} else if (value == '>') { R = rightsee();
R = rightsee(); servo.write(spoint);
servo.write(spoint); if (L < R) {
if (R >= 10 ) { right();
right(); delay(500);
delay(500); Stop();
Stop(); delay(200);
} else if (R < 10) { } else if (L > R) {
Stop(); left();
} delay(500);
} else if (value == '*') { Stop();
Stop(); delay(200);
} }
} } else {
} forward();
}
}
void voicecontrol() {
if (Serial.available() > 0) {
// Ultrasonic sensor distance value = Serial.read();
reading function Serial.println(value);
int ultrasonic() { if (value == '^') {
digitalWrite(Trig, LOW); forward();
delayMicroseconds(4); } else if (value == '-') {
digitalWrite(Trig, HIGH); M2.run(FORWARD);
delayMicroseconds(10); M3.run(BACKWARD);
digitalWrite(Trig, LOW); M4.run(BACKWARD);
long t = pulseIn(Echo, HIGH); }
long cm = t / 29 / 2; //time void Stop() {
convert distance M1.run(RELEASE);
return cm; M2.run(RELEASE);
} M3.run(RELEASE);
void forward() { M4.run(RELEASE);
M1.run(FORWARD); }
M2.run(FORWARD); int rightsee() {
M3.run(FORWARD); servo.write(20);
M4.run(FORWARD); delay(800);
} Left = ultrasonic();
void backward() { return Left;
M1.run(BACKWARD); }
M2.run(BACKWARD); int leftsee() {
M3.run(BACKWARD); servo.write(180);
M4.run(BACKWARD); delay(800);
} Right = ultrasonic();
void right() { return Right;
M1.run(BACKWARD); }
M2.run(BACKWARD);
M3.run(FORWARD);
M4.run(FORWARD);
}
void left() {
M1.run(FORWARD);
 II. RESULT The preferred spelling of the word “acknowledgment” in
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across both columns. Figure captions should be below the
[1] G. Eason, B. Noble, and I. N. Sneddon, “On certain integrals of
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copy More table copy a [4] K. Elissa, “Title of paper if known,” unpublished.
a.
[5] R. Nicole, “Title of paper with only first word capitalized,” J. Name
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Fig. 1. Example of a figure caption. (figure caption) [6] Y. Yorozu, M. Hirano, K. Oka, and Y. Tagawa, “Electron
spectroscopy studies on magneto-optical media and plastic substrate
Figure Labels: Use 8 point Times New Roman for Figure interface,” IEEE Transl. J. Magn. Japan, vol. 2, pp. 740–741, August
labels. Use words rather than symbols or abbreviations when 1987 [Digests 9th Annual Conf. Magnetics Japan, p. 301, 1982].
writing Figure axis labels to avoid confusing the reader. As [7] M. Young, The Technical Writer’s Handbook. Mill Valley, CA:
University Science, 1989.
an example, write the quantity “Magnetization”, or
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