VOICE CONTROLLED ROBOT

CHAPTER 1
INTRODUCTION

1.1 History of wireless communication

Wireless communication is the transfer of information between two or more points
that are not connected by an electronic conductor. Communication systems using
electrical and electronic technology have a significant impact on modern society. As the
courier speeding from Marathon to Athens in 490 B.C. illustrates, in early history
information could be exchanged only by physical transport of messages. The first wireless
networks were developed in the Pre-industrial age. These systems transmitted
information over line -of-sight distances (later extended by telescopes) using smoke
signals, torch signalling, flashing mirrors, signal flares, or semaphore flags. Only a few
examples exist of non-electrical communication techniques for the information via other
infrastructures than those for physical transport: smoke signals, signal flags in maritime
operations and the semaphore among them. Many scientists had made important
contributions to the field of communication since 19 th century. The telegraph and
telephone systems came into existence in 1838 and 1895 respectively, which laid some
of the foundation upon which radio communication was developed. Ubiquitous
connectivity to the internet, to company’s intranets or to the other data services like
WI-FI and the WI-MAX are the beginning to exist in any part of the world. This
chapter describes recent growth wireless communication and related work in the field of
wireless communication.

1.2 Evolution of Wireless communication

The immense growth of information exchange by electronic means has caused an
unprecedented boost in the development of telecommunication technologies, systems and
services. Communications that were formerly carried on wires are now supplied over
radio(wireless). Thus , wireless communication that uncouples the telephone from its wires to
local telephone change, has seen explosive growth. Mobile communication systems
revolutionised the way people communicate ,joining together communications and mobility.

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A long way in a remarkably short time has been achieved in the history of wireless. Evolution
of wireless access technologies is about to reach its fourth generation (4G). Looking past,
wireless access technologies have followed different evolutionary paths aimed at unified
target: performance and efficiency in high mobile environment . The first generation (1G) has
fulfilled the basic mobile voice, while the second generation(2G) has introduced capacity
and coverage. This is followed by the third generation(3G),which has quest for data at higher
speeds to open the gates for truly “mobile broad band” experience, which will be further
realised by the fourth generation(4G). The fourth generation(4G) will provide access to wide
range of telecommunication services, including advanced, mobile services, supported by the
mobile and fixed networks, which are increasing the packet based, along with a support for
low to high mobility applications and wide range of data rates, in accordance with service
demands in multiuser environment. This paper provides a high level overview of the
evolution of Mobile Wireless Communication Networks from 3G to 4G.

1.2.1 First Generation(1G):

In 1980 the mobile cellular era had started, and since then mobile communications have
undergone significant changes and experienced enormous growth. First generation mobile
systems used analog transmission for speech services. In 1979, the first cellular system in the
world became operational by Nippon telephone and telegraph(NTT) in Tokyo, Japan. Two
years later, the cellular epoch reached Europe. The two most popular analogue systems were
Nordic Mobile telephones(NMT) and Total Access communication systems(TACS). Other
than NMT and TACS, some another analog systems were also introduced in 1980’s across
the Europe. All of these systems offer handover and roaming capabilities but the cellular
networks were unable to interoperate between countries. This was one of the inevitable
disadvantages of first generation mobile networks.
In the united states, the advanced mobile phone system(AMPS) was launched in 1982. The
system was allocated a 40MHZ bandwidth with in the 800-90MHZ frequency range by the
federal communications commission(FCC) for AMPS. In 1988, an additional 10MHZ
bandwidth, called expanded spectrum(ES) was allocated to a AMPS. It was first deployed in
Chicago, with a service area of 2100 square miles. AMPS offered 832 channels, with a data
rate of 10kpbs. Although omni directional antennas were used in the earlier AMPS

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implementation, it was realised that using directional antennas would yield better cell reuse.
Infact, the smallest reuse factor that would fulfill the 18 db signal to interference ratio(SIR)
using 120 degree directional antennas was found to be 7.Hence,a seven cell reuse pattern was
adopted for AMPS. Transmissions from the base stations to mobile occur over the forward
channel using frequencies between 869-894MHZ. The reverse channel is used for
transmissions for mobiles to base stations, using frequencies between 824-849MHZ AMPS
and TACS use the frequency modulation(FM) technique for radio transmission . Traffic is
multiplexed onto an FDMA(frequency division multiple access) system.

1.2.2 Second Generation(2G): Second generation(2G) mobile system were introduced

in the end of 1980’s. Low bit rate data services were supported as well as the traditional
speech service. Compared to first generation systems, second generation(2G) systems use
digital multiple access technologies such as TDMA (Time division multiple access) and
CDMA (code division multiple access). Consequently, compared with first generation
systems, higher spectrum efficiency better data services, and more advanced roaming were
offered by 2G systems.
In Europe, the global system for mobile communications (GSM) was deployed to provide a
single unified standard. This enable seamless services throught out Europe by means of
international roaming. Global system for mobile communications, or GSM, uses TDMA
technology to support multiple users during development over more than 20 years, GSM
technology has been continuously improved to offer better services in the market . new
technologies have been developed based on the original GSM system, leading to some more
advanced systems known as 2.5 Generation (2.5G) systems. In the United states, there were 3
lines of development in the second generation digital cellular systems. The first digital
system, introduced in 1991, was the IS54 (North America TDMA Digital cellular), of which
a new version supporting additional services (IS-136) was introduced in 1996. Mean while,
IS-95 (CDMA One) was deployed in 1993.
The US Federal Communication Commission (FCC) also auctioned a new block of spectrum
in the 1900 MHz band (PCS), allowing GSM 1900 to enter the US market . in Japan the
personal digital cellular (PDC) system originally known as JDC(Japanese Digital Cellular)
was initially defined in 1990. Since the first networks appeared at the beginning of the 1991,

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GSM gradually evolved to meet the requirements of data traffic and many more services than
the original networks.
GSM(Global System For Mobile communication): The main element of this system is the
BSS (Base Station Sub system), in which there are BTS (Base Transceiver Station) and BSC
(Base Station Controllers); and the NSS (Network Switching Sub system), in which there is
MSC(Mobile Switching Centre), VLR (Visitor Location Register), HLR (Home location
Register), AC (Authentication Centre) and EIR (Equipment Identity Register). This network
is capable of providing all the basic services up to 9.6Kbps, fax, etc. This GSM network also
has an extension to the fixed to the telephony network.
A new design was introduced into the Mobile Switching Centre of second generation
systems. In particular, the use base station controller (BSCs) lightens the load placed on the
MSC found in first generation system. This design allows the interface between the MSC and
BSC to be standardized. Hence considerable attention was devoted to interoperability and
standardization in second generation systems so that carrier could employ different
manufacturers for the MSCs and BSCs. In addition to enhancements in MSC design, the
mobile-assisted handoff mechanism was introduced. By sensing signals received from
adjacent base stations, a mobile unit can trigger a hand off by performing explicit signalling
with the network. GSM and VAS (Value Added Services ): the next advancement in the
GSM system was the addition of two platforms, called Voice Mail Service(VMS) and the
Short Message Service Centre (SMSC). The SMSC proved to be incredibly commercially
successful, so much so that in some networks the SMS traffic constitutes a major part of the
total traffic. Along with VAS, IN(Intelligent Services) also made its mark in the GSM system
with its advantages of giving the operators the chance to create a whole range of new
services. Fraud management and ‘pre-paid’ services are the results of the IN service.
GSM and GPRS(General packet radio service): As the requirement for sending data on the
air-interfaced increased, new elements such as SGSN(servicing GPRS)and GGSN(Gateway
GPRS)were added to the existing GSM system. These elements made a possible to send
packet data on the air-interface. This packet of the network handing the packet data is also
called the ‘packet core network’. In addition to the SGSN and GGSN(Gateway GPRS) where
added existing GSM system. These elements made it possible to send packet data on the air-
interface. This packet of the network handling the packet data is also called the ‘packet core

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network’. It also contains IP routers, firewall servers and DNS(Domain Name Serves). This
enables wireless access to the internet and bit rate reaching to 150kbps in optimum
conditions. The move into the 2.5G worlds began with general packet radio
services(GPRS).GPRS is a radio technology for GSM networks that adds packet charge
protocols, shorter set up time for ISP connections, and possibility to charge by the amount of
data sent, rather than connections time. Packet switching is a technique whereby
information(voice or data) to be sent is broken up into packets, of at most a few K bytes each,
which are then routed by the network resources is optimised as the resources are needed only
during the handling of each packet. GPRS supports flexible data transmission rates as well as
continuous connection to the network . GPRS most significant step towards 3G.
GSM and EDGE(Enhanced Data rates in GSM environment): With both voice and data
traffic moving on the system, the need was felt to increase the data rate. This was done by
using more sophisticated coding methods over the internet and thus increasing the data rate
up to 384 kbps. Implementing EDGE was relatively painless and required small changes to
the network hardware and software as ir uses the same TDMA frame structure logic channel
and 200KHZ carrier bandwidth today’s GSM networks . As EDGE progresses to co-
existence with 3G WCDMA, data rate of up to ATM-like speeds of 2Mbps could be
available. Now-a-days, second generation digital cellular system still dominate the mobile
industry throughout the whole world. However. third generation(3G) systems have been
introduced in the market, but their penetration is quite limited because of several techno-
economic reasons.

1.2.3 Third generation(3G): The objective of the third generation of wireless

communication is to provide fairly high-speed wireless communications to support
multimedia, data , and video in addition to voice. Telecommunications for the year
2000(IMT-2000) initiative has defined the ITU’s view of the third generation capabilities as
follows:

 Voice quality comparable to the public switched telephone network

 144kbps data rate available to users in high speed motor vehicle over large
areas.

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 384kbps available to pedestrians standing or moving slowly over small areas.

 support for both packet- switched and circuit- switched data services.
 More efficient use of the available spectrum in general.
 Support for a wide variety of mobile equipment.
 Flexibility to allow the introduction of new services and technologies.

Improved data rates f 3G systems over their predecessors have opened the doors for
applications like mobile TV, video-on-demand, video conferencing, tele-medicine, and
location-based services. High data rates have also allowed users to browse the Web using
their cell phones and consequently gave birth to the term mobile broadband. 3G paved the
way for the rise of smart phones and their wide screens as they were suitable for viewing
mobile Websites, video conferencing, or watching mobile TV.

1.2.4 Fourth Generation (4G): 4G refers to the fourth generation of cellular wireless
standards. It is the successor to 3G and 2G technologies. It is basically the extension in the
3g technology with more bandwidth and services offers in the 3G. The expectation for the 4G
technology is basically the high quality audio/video streaming over end to end internet
protocol. If the internet protocol (IP) multimedia subsystem movement achieves what is
going to do.

1.3MODES OF WIRELESS COMMUNICATION

Wireless communications can be via:

1. Radio communication,

2. Microwave communication, for example long-range lineof-sight via highly

directional antennas, or short-range communication,
3. Light, visible and infrared (IR) for example consumer IR devices such as remote
controls or via Infrared Data Association (IrDA).
4. Sonic, especially ultrasonic short range communication

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5. Electromagnetic induction short range communication and power. Applications

may involve point-to-point communication, point-to-multipoint communication,
broadcasting, cellular networks and other wireless networks.
6. Wi-Fi technology.

1.4 ADVANTAGES

Wireless communication has the following advantages:

i. Communication has enhanced to convey the information quickly to the consumers.

ii. Working professionals can work and access Internet anywhere and anytime without
carrying cables or wires wherever they go. This also helps to complete the work anywhere on
time and improves the productivity.

iii. Doctors, workers and other professionals working in remote areas can be in touch with
medical centres through wireless communication.

iv. Urgent situation can be alerted through wireless communication. The affected regions can
be provided help and support with the help of these alerts through wireless communication.

v. Wireless networks are cheaper to install and maintain.

1.5 Applications of wireless technology

Mobile telephones :

One of the best-known examples of wireless technology is the mobile phone, also known as a
cellular phone, with more than 4.6 billion mobile cellular subscriptions worldwide as of the
end of 2010. These wireless phones use radio waves to enable their users to make phone calls
from many locations worldwide. They can be used within range of the mobile telephone site
used to house the equipment required to transmit and receive the radio signals from these
instruments.

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Wireless data communications :

Wireless data communications are an essential component of mobile computing. The various
available technologies differ in local availability, coverage range and performance, and in
some circumstances, users must be able to employ multiple connection types and switch
between them. To simplify the experience for the user, connection manager software can be
used, or a mobile VPN deployed to handle the multiple connections as a secure, single virtual
network. Supporting technologies include:

Wi-Fi is a wireless local area network that enables portable computing devices to connect
easily to the Internet. Standardized as IEEE 802.11 a,b,g,n, Wi-Fi approaches speeds of some
types of wired Ethernet. Wi-Fi has become the de facto standard for access in private homes,
within offices, and at public hotspots. Some businesses charge customers a monthly fee for
service, while others have begun offering it for free in an effort to increase the sales of their
goods.

Cellular data service offers coverage within a range of 10-15 miles from the nearest cell site.
Speeds have increased as technologies have evolved, from earlier technologies such as GSM,
CDMA and GPRS, to 3G networks such as W-CDMA, EDGE or CDMA2000.

Mobile Satellite Communications may be used where other wireless connections are
unavailable, such as in largely rural areas or remote locations. Satellite communications are
especially important for transportation, aviation, maritime and military use.

Wireless Sensor Networks are responsible for sensing noise, interference, and activity in
data collection networks. This allows us to detect relevant quantities, monitor and collect
data, formulate meaningful user displays, and to perform decision-making functions

Wireless energy transfer:

Wireless energy transfer is a process whereby electrical energy is transmitted from a power
source to an electrical load that does not have a built-in power source, without the use of
interconnecting wires. There are two different fundamental methods for wireless energy
transfer. They can be transferred using either far-field methods that involve beam

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power/lasers, radio or microwave transmissions or near-field using induction. Both methods

utilize electromagnetism and magnetic fields

Wireless Medical Technologies:

New technologies such as mobile body area networks (MBAN) the capability to monitor
blood pressure, heart rate, oxygen level and body temperature, all with wireless technologies.
The MBAN works by sending low powered wireless signals to receivers that feed into
nursing stations or monitoring sites. This technology helps with the intentional and
unintentional risk of infection or disconnection that arise from wired connections.

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CHAPTER 2
LITERATURE SURVEY

2.1 literature survey

[1].a. K. And r. C. , "voice controlled robot,"international journal of innovative research in
technology, vol. 1, no. 11, pp. 338-344, 2014.speech recognition is a technology which
allows the processing of a speech input to text and is speaker independent. This allows it to
be used in numerous applications ranging from digital assistants to controlling machinery.this
paper proposes a strategy which can be used in controlling a robotic vehicle through
connected speech input. The speech recognizer platform will be an android smartphone
which communicates with the robot using bluetoothconnectivity. This method allows for
efficient recognition and smooth data transfer. Additionally the robot will also have the
capability to detect obstacles and inform the user to use a different command. Our proposed
technique will be useful for applications such as assistive robots for people with disabilities
or in industrial applications such as work robots.

[2] a study on real-time control of mobile robot with based on voice command, byoung-
kyun shim ; yoo-ki cho ;jong-baem won;sung-hyunhan control, automation and systems
(iccas), 2011 11th international conference on publication year: 2011. We have proposed the
integration of robust voice recognition and navigation system capable of performing
autonomous navigation in unknown environments. In order to evaluate the performance of
the overall system, a number of experiments have been undertaken in various environments.
The experimental results show that the mobile robot with the complete voice recognition and
navigation system can arrive at the goal position according to the desire of speaker even if the
wheel slip occurs. From the developed of voice recognition and navigation system, it was
observed that the mobile robot can successfully arrive at the desired position through the
unknown environments without colliding with obstacles.

[3] voice controlled robotic system using arduino microcontroller international journal of
new technology and research (ijntr)issn: 2454-4116, volume-3, issue-4, april 2017 pages 92-

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94 voice controlled robotic system is very beneficial in areas where there is high risk for
humans to enter. Voice controlled robotic system is controlled through voice commands
received via android device. The integration of control unit with bluetooth device is
achieved using a bluetooth module to bluetooth device is achieved using a bluetooth
module to capture and read the voice commands. The robotic vehicle operates as per the
command received via android device, for this arduino is integrated in the system. The
controlling device may be any smart phone having an android os. The transmitter uses an
android application required for transmitting the data. The receiver end reads these
commands and interprets them into controlling the robotic vehicle. The android device
sends commands to move the vehicle in forward, backward, right and left directions. After
receiving the commands, arduino operates the motors in order to move the vehicle in four
directions. The communication between android device and receiver is sent as serial
communication data.arduino program is designed to move the motor through a motor
driver circuit as per the commands sent by android device. The wireless camera is interfaced
with arduino to record forward movement of the robotic system which also includes
wireless night vision camera which will not only allow viewing whatever will be recorded in
day time but also during night. A robotic arm is mounted at the front of the system to make
changes in the environment along with a lcd screen to view the received commands. An
obstacle detector is added to protect the system from obstacles on the way by using
anultrasonic sensor.

[4] Arduino Based Bluetooth Controlled Robot International Journal of Engineering Trends
and Technology (IJETT) – Volume 32 Number 5- February 2016 —A robot is usually an
electro-mechanicalmachine that is guided by computer and electronic programming. Many
robots have been built for manufacturing purpose and can be found in factories around the
world. Designing of the latest inverted ROBOT which can be controlling using an APP for
android mobile. And in which we use Bluetooth communication to interface Arduino UNO
and android. Arduino can be interfaced to the Bluetooth module though UART protocol.
According to commands received from android the robot motion can be controlled. The
consistent output of a robotic system along with quality and repeatability are unmatched.

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This robots can be reprogrammable and can be interchanged to provide multiple

applications.

[5] Robot Voice A Voice Controlled Robot using Arduino International Journal of
Engineering and Advanced Technology (IJEAT) by Vineeth Teeda, K.Sujatha, Rakesh
Mutukuru ISSN: 2249 – 8958, Volume-5, Issue-6, August 2016 Robotic assistants reduces
the manual efforts being put by humans in their day-to-day tasks. In this paper, we develop a
voice-controlled personal assistant robot. The human voice commands are taken by the robot
by it’s own inbuilt microphone. This robot not only takes the commands and execute them,
but also gives an acknowledgement through speech output. This robot can perform different
movements, turns, wakeup/shutdown operations, relocate an object from one place to another
and can also develop a conversation with human. The voice commands are processed in real-
time, using an offline server. The speech signal commands are directly communicated to the
server using a USB cable. The personal assistant robot is developed on a microcontroller
based platform. Performance evaluation is carried out with encouraging results of the initial
experiments. Possible improvements are also discussed towards potential applications in
home, hospitals, car systems and industries

[6] VOICE CONTROLLED ROBOTIC VEHICLE International Research Journal of

Engineering and Technology (IRJET) e-ISSN: 2395 -0056 Volume: 04 Issue: 06 | June-2017
www.irjet.net p-ISSN: 2395-0072 The paper is designed to control a robotic vehicle by voice
commands for remote operation. An ARM series microcontroller is used together with an
Android Application for the desired operation. The Android Application is connected to the
Bluetooth module (HC-05)present on the Robot via Bluetooth. The commands are sent to the
robot using push buttons or voice commands present on the android application. At the
receiving end two dc servo motors are interfaced to the microcontroller where they are used
for the movement of the vehicle. The RF transmitter of the Bluetooth can take either switch
press or voice commands which are converted to encoded digital data for the advantage of
adequate range (up to 100 meters) from the robot. The receiver decodes the data before
feeding it to another microcontroller to drive DC motors via motor driver IC for necessary
work. This technology has an advantage over long communication range as compared to RF
technology. Further the project can be developed using IoT technology where a user can

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control the robot from any corner of the world.

[7] speech recognition system for a voice controlled robot with real time obstacle detection
and avoidance 1yasir ali memon, 2imaaduddin motan, 3muhammad ali akbar, 4sarmad
hameed,5moez ul hasan International Journal Of Electrical, Electronics And Data
Communication, ISSN: 2320-2084 Volume-4, Issue-9, Sep.-2016 Speech Recognition is a
technology which allows the processing of a speech input to text and is speaker
independent. This allows it to be used in numerous applications ranging from digital
assistants to controlling machinery. This paper proposes a strategy which can be used in
controlling a robotic vehicle through connected speech input. The speech recognizer
platform will be an Android smartphone which communicates with the robot using
Bluetooth Connectivity. This method allows for efficient recognition and smooth data
transfer. Additionally the robot will also have the capability to detect obstacles and inform
the user to use a different command. Our proposed technique will be useful for applications
such as assistive robots for people with disabilities or in industrial applications such as work
robots.
.
[8] A Mechanism for Human – Robot Interaction through Informal Voice Commands 2005
IEEE International Workshop on Robots and Human Interactive Communication Interaction
between humans and robots must, necessarily, be in a manner that is natural to humans, such
as informal speech. While verbal command and control systems are fairly common,the
human must know the exact phrases to issue in order for their robotic partner to respond
appropriately. These systems define a few grammar rules that are used to match against
incoming utterances. Here, we present a method of using these same grammar rules to expand
the capabilities of command and control engines to include semantically similar utterances.
Preliminary results from an experimental simulation will be presented along with a detailed
methodology of a recently completed study aimed at collecting human speech for a more
rigorous analysis.

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[9] Android Application Based Bluetooth Controlled Robotic Car Ayan Maity1 , Avijit Paul1
Priyanka Goswami2, Ankan Bhattacharya1 International Journal of Intelligent Information
Systems 2017; 6(5): 62-66 We are now living in the 21st century. Now, smart phone has
become the most essential thing in our daily life. Android application based smart phones are
becoming each time more powerful and equipped with several accessories that are useful for
Robots. This project describes how to control a robot using mobile through Bluetooth
communication, some features about Bluetooth technology, components of the mobile and
robot. We present a review of robots controlled by mobile phone via moving the robot
upward, backward, left and right side by the android application such as Arduino, Bluetooth.
Bluetooth has changed how people use digital device at home or office, and has transferred
traditional wired digital devices into wireless devices. Here we are using Bluetooth
communication, interface microcontroller and android application. We are using Arduino
software to interface the Bluetooth module with microcontroller. According to commands
received from android the robot motion can be controlled. We derived simple solutions to
provide a framework for building robots with very low cost but with high computation and
sensing capabilities provided by the smart phone that is used as a control device.

[10] A Study on Precise Control of Autonomous Driving Robot by Voice Recognition Sung-
Won Jung1, Ki-Won Sung 1, Moon-Youl Park1, Eon-Uck Kang 1, Won-Jun Hwang 1,Jong-
Dae Won2, Woo-Song Lee3, and Sung-Hyun Han4 Generally, it is possible to control the
motion by using information on the robot's own postures, because a type of motion and
gesture produces almost the same pattern of every time. In this paper, we describe a voice
recognition control system for robot system which can robustly recognize voice by adults and
children in noisy environments. We evaluate the performance of robot control system in a
communication robot placed in a real noisy environment. Voice is captured using a wireless
microphone. To suppress interference and noise and to attenuate reverberation, we
implemented a multi-channel system consisting of an outlier-robust generalized side-lobe
canceller technique and a feature-space noise suppression using criteria. Voice activity
periods are detected based end- point detection.

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CHAPTER 3

VOICE CONTROLLED ROBOT

3.1 Introduction

This project probes into the design of voice controlled robot based on Arduino
Uno. This project is to design and develop a low cost feature which is based on embedded
and wireless communication platforms for voice controlled robot.

The main objective of the project is to control the robotic vehicle in a desired
position and also to control the robot by the voice. The voice controlled robot is to listen and
act on the commands received from the user.

3.2 Description

In our project ,we make use of arduino microcontroller which is

the heart of our project. The Existing system is a speech recognizing system .Speech
recognition is the process of capturing spoken words using a microphone or telephone and
converting them into a digitally stored set of words. It causes problem during noisy
environment.

The proposed system will be designed based on arduino uno. Which

is connected to smart android phone through bluetooth module for receiving voice command.
The voice command is converted to text by an app of the android phone and sends necessary
data to the arduino uno for controlling robot movement .and ultrasonic (US) sensor is used in
many applications where measuring distance or sensing objects and By using mit app
inventor we can see the robot moments and also capturing the images.

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3.3 Block diagram

Fig 3.3 Block diagram

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3.4 Circuit Diagram

Fig 3.4 Circuit Diagram

3.5 Operation

After making the above circuit connections and uploading the code into the
arduino, We make a robotic car which we can control using voice through a mobile
application. This Application can listens and sends the instruction to the arduino using
bluetooth and then arduino performs the specified operation. The mobile application is
capable of identifying five commands which are stop, forward , back ,left ,right. The voice
command is converted to text by an app of the android phone and sends necessary data to the
arduino uno for controlling robot movement.
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3.6 Features

 It Can be easily interfaced with laptop or mobile phones with bluetooth

 Frequency: 2.4GHZ ISM band
 Low cost
 User friendly
 Power saving

3.7 Advantages

 Less hardware require.

 Cost of the system is low.

 The robot is small in size , so space require for it is small.

 Less power consumption.

3.8 Applications

 The robot is useful in places where humans find difficult to reach but human voice
reaches .

 The robot can be used for surveillance .

 The robot can be used in military.

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3.9 Overall kit view

Fig 3.9 Overall kit view

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CHAPTER 4
HARDWARE DESCRIPTION

The required components of the project described in this chapter are Arduino
Uno, L293D Motor driver shield(IC),Ultrasonic sensor(HC-SR04), Bluetooth module(HC-
05), Bo motors.

4.1 ARDUINO UNO

Arduino Uno is a microcontroller board based on 8-bit ATmega328P

microcontroller. Along with ATmega328P, it consists other components such as crystal
oscillator, serial communication, voltage regulator, etc. to support the microcontroller.
Arduino Uno has 14 digital input/output pins (out of which 6 can be used as PWM outputs), 6
analog input pins, a USB connection, A Power barrel jack, an ICSP header and a reset button.

Fig 4.1 ARDUINO UNO

4.1.1 How to use Arduino Board

The 14 digital input/output pins can be used as input or output pins by using
pinMode(), digitalRead() and digitalWrite() functions in arduino programming. Each pin
operate at 5V and can provide or receive a maximum of 40mA current, and has an internal
pull-up resistor of 20-50 KOhms (which are disconnected by default).A maximum of 40mA
is the value that must not be exceeded on any I/O pin to avoid permanent damage to the
microcontroller.

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Arduino microcontrollers are pre-programmed with a boot loader that simplifies

uploading of programs to the on-chip flash memory. the default bootloader of the arduino uno
is the optiboot bootloader. Boards are loaded with program code via serial connection to
another computer. Some serial arduino boards contain level shifter circuit to convert between
RS-232 logic levels and transistors-transistors logic(TTL) level signals. In addition ,some
pins have specialized functions:

Fig 4.1.2 Arduino Uno Pin Description

 Serial Pins 0 (Rx) and 1 (Tx): Rx and Tx pins are used to receive and transmit TTL serial
data. They are connected with the corresponding ATmega328P USB to TTL serial chip.
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 External Interrupt Pins 2 and 3: These pins can be configured to trigger an interrupt on a
low value, a rising or falling edge, or a change in value.
 PWM Pins 3, 5, 6, 9 and 11: These pins provide an 8-bit PWM output by using
analogWrite() function.
 SPI Pins 10 (SS), 11 (MOSI), 12 (MISO) and 13 (SCK): These pins are used for SPI
communication.
 In-built LED Pin 13: This pin is connected with an built-in LED, when pin 13 is HIGH –
LED is on and when pin 13 is LOW, its off.
 Along with 14 Digital pins, there are 6 analog input pins, each of which provide 10 bits of
resolution, i.e. 1024 different values. They measure from 0 to 5 volts but this limit can be
increased by using AREF pin with analog Reference() function.
 AREF: Used to provide reference voltage for analog inputs with analogReference()
function.
 Reset Pin: Making this pin LOW, resets the microcontroller

4.1.2Arduino Uno Pin Description

Pin Category Pin Name Details

Power Vin, 3.3V, 5V, GND Vin: Input voltage to Arduino when using an
external power source.

5V: Regulated power supply used to power

microcontroller and other components on the
board.

3.3V: 3.3V supply generated by on-board

voltage regulator. Maximum current draw is
50mA.GND: ground pins.

Reset Reset Resets the microcontroller.

Analog Pins A0 – A5 Used to provide analog input in the range of 0-

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5V

Input/Output Pins Digital Pins 0 - 13 Can be used as input or output pins.

Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.

External Interrupts 2, 3 To trigger an interrupt.

PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.

SPI 10 (SS), 11 (MOSI), 12 Used for SPI communication.

(MISO) and 13 (SCK)

Inbuilt LED 13 To turn on the inbuilt LED.

TWI A4 (SDA), A5 (SCA) Used for TWI communication.

AREF AREF To provide reference voltage for input voltage.

4.1.3 Arduino Uno Technical Specifications

Microcontroller ATmega328P – 8 bit AVR family microcontroller

Operating Voltage 5V

Recommended Input 7-12V

Voltage

Input Voltage Limits 6-20V

Analog Input Pins 6 (A0 – A5)

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Digital I/O Pins 14 (Out of which 6 provide PWM output)

DC Current on I/O Pins 40 mA

DC Current on 3.3V Pin 50 mA

Flash Memory 32 KB (0.5 KB is used for Bootloader)

SRAM 2 KB

EEPROM 1 KB

Frequency (Clock Speed) 16 MHz

4.1.4 ATMEGA328P MICROCONTROLLER

Fig 4.1.4 ATMEGA328P MICROCONTROLLER

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ATMEGA328P is high performance, low power controller from Microchip.

ATMEGA328P is an 8-bit microcontroller based on AVR RISC architecture. It is the most
popular of all AVR controllers as it is used in ARDUINO boards.

4.1.5 ATMEGA328P PIN DIAGRAM

Fig 4.1.5 ATMEGA328P PIN DIAGRAM

4.1.6 How to Use ATMega328P using Arduino

ATmega328P is used in Arduino Uno and Arduino nano boards, you can
directly replace the arduino board with ATmega328 chip. For that first you need to install
the Arduino bootloader into the chip (Or you can also buy a chip with bootloader –
ATMega328P-PU). This IC with bootloader can be placed on Arduino Uno board and burn
the program into it. Once Arduino program is burnt into the IC, it can be removed and used in
place of Arduino board, along with a Crystal oscillator and other components as required for
the project. Below is the pin mapping between Arduino Uno and ATmega328P chip.

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Fig 4.1.6 Atmega328p and arduino pin mapping

4.1.7 Applications

 Used in ARDUINO UNO, ARDUINO NANO and ARDUINO MICRO boards.

 Industrial control systems.
 SMPS and Power Regulation systems.
 Digital data processing.
 Analog signal measuring and manipulations.
 Embedded systems like coffee machine, vending machine.
 Motor control systems.
 Display units.
 Peripheral Interface system.

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4.2 L293D Motor driver shield (IC)

L293D is a typical Motor driver or Motor Driver IC which allows DC motor to

drive on either direction. L293D is a 16-pin IC which can control a set of two DC motors
simultaneously in any direction.It means that you can control two DC motor with a
single L293D IC. Dual H-bridge Motor Driver integrated circuit (IC).

Fig 4.2 L293D Motor driver shield(IC)

The L293D is a popular 16-Pin Motor Driver IC. it is mainly used to drive
motors. A single L293D IC is capable of running two DC motors at the same time and also
the direction of these two motors can be controlled independently. So if you have motors
which has operating voltage less than 36V and operating current less than 600mA, which are
to be controlled by digital circuits like Op-Amp, 555 timers, digital gates or even Micron
rollers like Arduino, PIC, ARM etc.

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4.2.1 L293D PIN DIAGRAM

4.2.2 L293D PIN Configuration

Pin Pin Name Description

Number

1 Enable 1,2 This pin enables the input pin Input 1(2) and Input 2(7)

2 Input 1 Directly controls the Output 1 pin. Controlled by digital circuits

3 Output 1 Connected to one end of Motor 1

4,5 Ground Ground pins are connected to ground of circuit (0V)

6 Output 2 Connected to another end of Motor 1

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7 Input 2 Directly controls the Output 2 pin. Controlled by digital circuits

8 Vcc2 (Vs) Connected to Voltage pin for running motors (4.5V to 36V)

9 Enable 3,4 This pin enables the input pin Input 3(10) and Input 4(15)

10 Input 3 Directly controls the Output 3 pin. Controlled by digital circuits

11 Output 3 Connected to one end of Motor 2

12,13 Ground Ground pins are connected to ground of circuit (0V)

1 Output 4 Connected to another end of Motor 2

15 Input 4 Directly controls the Output 4 pin. Controlled by digital circuits

16 Vcc2 (Vss) Connected to +5V to enable IC function

4.2.3 How to use a L293D Motor Driver IC

Using this L293D motor driver IC is very simple. The IC works on the principle
of Half H-Bridge, let us not go too deep into what H-Bridge means, but for now just know
that H bridge is a set up which is used to run motors both in clock wise and anti clockwise
direction. this IC is capable of running two motors at the any direction at the same time.

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Fig 4.2.3 L293D CIRCUIT DIAGRAM

All the Ground pins should be grounded. There are two power pins for this IC,
one is the Vss(Vcc1) which provides the voltage for the IC to work, this must be connected to
+5V. The other is Vs(Vcc2) which provides voltage for the motors to run, based on the
specification of your motor you can connect this pin to anywhere between 4.5V to 36V, here
I have connected to +12V.The Enable pins (Enable 1,2 and Enable 3,4) are used to Enable
Input pins for Motor 1 and Motor 2 respectively. Since in most cases we will be using both
the motors both the pins are held high by default by connecting to +5V supply. The input pins
Input 1,2 are used to control the motor 1 and Input pins 3,4 are used to control the Motor 2.
The input pins are connected to the any Digital circuit or microcontroller to control the speed
and direction of the motor.

Input 1 = HIGH(5v) Output 1 = HIGH Motor 1 rotates in Clock wise

Direction
Input 2 = LOW(0v) Output 2 = LOW

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Input 3 = HIGH(5v) Output 1 = HIGH Motor 2 rotates in Clock wise

Direction
Input 4 = LOW(0v) Output 2 = LOW

Input 1 = LOW(0v) Output 1 = LOW Motor 1 rotates in Anti-Clock wise Direction

Input 2 = HIGH(5v) Output 2 = HIGH

Input 3 = LOW(0v) Output 1 = LOW Motor 2 rotates in Anti -Clock wise Direction

Input 4 = HIGH(5v) Output 2 = HIGH

Input 1 = HIGH(5v) Output 1 = HIGH Motor 1 stays still

Input 2 = HIGH(5v) Output 2 = HIGH

Input 3 = HIGH(5v) Output 1 = LOW Motor 2 stays still

Input 4 = HIGH(5v) Output 2 = HIGH

4.2.4 Features

 Can be used to run Two DC motors with the same IC.

 Speed and Direction control is possible.
 Motor voltage Vcc2 (Vs): 4.5V to 36V.
 Maximum Peak motor current: 1.2A.
 Maximum Continuous Motor Current: 600mA.

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 Supply Voltage to Vcc1(vss): 4.5V to 7V.

 Transition time: 300ns (at 5Vand 24V).
 Automatic Thermal shutdown is available.
 Available in 16-pin DIP, TSSOP, SOIC packages.

4.2.5 Applications

 Used to drive high current Motors using Digital Circuits.

 Can be used to drive Stepper motors.
 High current LED’s can be driven.
 Relay Driver module (Latching Relay is possible).

4.3 HC-SR04 Ultrasonic Sensor

When an electrical pulse of high voltage is applied to the ultrasonic transducer it

vibrates across a specific spectrum of frequencies and generates a burst of sound waves.
Whenever any obstacle comes ahead of the ultrasonic sensor the sound waves will reflect
back in the form of echo and generates an electric pulse. It calculates the time taken between
sending sound waves and receiving echo. The echo patterns will be compared with the
patterns of sound waves to determine detected signal’s condition.

Fig 4.3 HC-SR04 Ultrasonic Sensor

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4.3.1 Ultrasonic Sensor Pin Configuration

Pin Pin Name Description

Number

1 Vcc The Vcc pin powers the sensor, typically with +5V

2 Trigger Trigger pin is an Input pin. This pin has to be kept high
for 10us to initialize measurement by sending US wave.

3 Echo Echo pin is an Output pin. This pin goes high for a period
of time which will be equal to the time taken for the US
wave to return back to the sensor.

4 Ground This pin is connected to the Ground of the system.

4.3.2 HC-SR04 Ultrasonic Sensor – Working

HC-SR04 Ultrasonic (US) sensor is a 4 pin module, whose pin names are Vcc,
Trigger, Echo and Ground respectively. This sensor is a very popular sensor used in many
applications where measuring distance or sensing objects are required. The module has two
eyes like projects in the front which forms the Ultrasonic transmitter and Receiver. The
sensor works with the simple formula .

Distance = Speed × Time

The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air
and when it gets objected by any material it gets reflected back toward the sensor this
reflected wave is observed by the Ultrasonic receiver module as shown in the picture below

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Fig 4.3.2HC-SR04 Ultrasonic Sensor working

Now, to calculate the distance using the above formulae, we should know the
Speed and time. Since we are using the Ultrasonic wave we know the universal speed of US
wave at room conditions which is 330m/s. The circuitry inbuilt on the module will calculate
the time taken for the US wave to come back and turns on the echo pin high for that same
particular amount of time, this way we can also know the time taken. Now simply calculate
the distance using a microcontroller or microprocessor.

4.3.3 How to use the HC-SR04 Ultrasonic Sensor

HC-SR04 distance sensor is commonly used with both microcontroller and

microprocessor platforms like Arduino, ARM, PIC, Raspberry Pie etc. The following guide is
universally since it has to be followed irrespective of the type of computational device used.

Power the Sensor using a regulated +5V through the Vcc ad Ground pins of the
sensor. The current consumed by the sensor is less than 15mA and hence can be directly
powered by the on board 5V pins (If available). The Trigger and the Echo pins are both I/O
pins and hence they can be connected to I/O pins of the microcontroller. To start the
measurement, the trigger pin has to be made high for 10uS and then turned off. This action
will trigger an ultrasonic wave at frequency of 40Hz from the transmitter and the receiver
will wait for the wave to return. Once the wave is returned after it getting reflected by any
object the Echo pin goes high for a particular amount of time which will be equal to the time

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taken for the wave to return back to the sensor. The amount of time during which the Echo
pin stays high is measured by the MCU/MPU as it gives the information about the time taken
for the wave to return back to the Sensor.

4.3.4 HC-SR04 Sensor Features

 Operating voltage: +5V

 Theoretical Measuring Distance: 2cm to 450cm
 Practical Measuring Distance: 2cm to 80cm
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
 Operating Frequency: 40Hz

4.3.5 Applications

 Used to avoid and detect obstacles with robots like biped robot, obstacle avoider robot,
path finding robot etc.
 Used to measure the distance within a wide range of 2cm to 400cm
 Can be used to map the objects surrounding the sensor by rotating it
 Depth of certain places like wells, pits etc can be measured since the waves can penetrate
through water.

4.4 HC-05 - Bluetooth Module

The HC-05 has two operating modes, one is the Data mode in which it can send
and receive data from other Bluetooth devices and the other is the AT Command mode where
the default device settings can be changed. We can operate the device in either of these two
modes by using the key pin as explained in the pin description.

It is very easy to pair the HC-05 module with microcontrollers because it

operates using the Serial Port Protocol (SPP). Simply power the module with +5V and
connect the Rx pin of the module to the Tx of MCU and Tx pin of module to Rx of MCU as
shown in the figure below

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Fig 3.4 HC-05 - Bluetooth Module

During power up the key pin can be grounded to enter into Command mode, if
left free it will by default enter into the data mode. As soon as the module is powered you
should be able to discover the Bluetooth device as “HC-05” then connect with it using the
default password 1234 and start communicating with it.

4.4.1 HC-05 Default Settings

 Default Bluetooth Name: “HC-05”

 Default Password: 1234 or 0000

 Default Communication: Slave

 Default Mode: Data Mode , Default firmware: LINVOR

 Data Mode Baud Rate: 9600, 8, N, 1

 Command Mode Baud Rate: 38400, 8, N, 1

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4.4.2 Pin Configuration

Pin Pin Name Description

Number

1 Enable / This pin is used to toggle between Data Mode (set low) and AT
Key command mode (set high). By default it is in Data mode

2 Vcc Powers the module. Connect to +5V Supply voltage

3 Ground Ground pin of module, connect to system ground.

4 TX – Transmits Serial Data. Everything received via Bluetooth will be

Transmitter given out by this pin as serial data.

5 RX – Receive Serial Data. Every serial data given to this pin will be
Receiver broadcasted via Bluetooth

6 State The state pin is connected to on board LED, it can be used as a

feedback to check if Bluetooth is working properly.

7 LED Indicates the status of Module

 Blink once in 2 sec: Module has entered Command Mode

 Repeated Blinking: Waiting for connection in Data Mode
 Blink twice in 1 sec: Connection successful in Data Mode

8 Button Used to control the Key/Enable pin to toggle between Data and
command Mode

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4.4.3 HC-05 Technical Specifications

 Serial Bluetooth module for Arduino and other microcontrollers

 Operating Voltage: 4V to 6V (Typically +5V)
 Operating Current: 30mA
 Range: <100m
 Works with Serial communication (USART) and TTL compatible
 Follows IEEE 802.15.1 standardized protocol
 Uses Frequency-Hopping Spread spectrum (FHSS)
 Can operate in Master, Slave or Master/Slave mode
 Can be easily interfaced with Laptop or Mobile phones with Bluetooth
 Supported baud rate: 9600,19200,38400,57600,115200,230400,460800.

4.4.4 Applications

 Wireless communication between two microcontrollers

 Communicate with Laptop, Desktops and mobile phones
 Data Logging application
 Consumer applications
 Wireless Robots
 Home Automation

4.5 Bo motors

BO(Battery Operated) light weight DC geared motor which gives good torque
and rpm at lower voltages. This motor can run at approximately 300 rpm when driven by a
single Li-Ion cell. Great for battery operated light weight robots. It can do reverse and
forward directions.

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Fig 4.5 Bo motors

A DC motor with gear box attached to the shaft, which is mechanically

commutated electric motor powered from direct current (DC). Generally used in DIY
projects, Battery operated toys, Radio controlled vehicles, Robotic projects etc.

4.5.1 Specification & Features

 RPM: 300
 Operating Voltage : 3V - 9V
 Gear materials: plastic.
 Motor types: permanent-magnet.
 Brush-type: Brush.
 Uncommitted motors: Homopolar motors.
 Magnet types: ferrite magnets.
 Torque: Approximate 2.0Kg/cm.
 Low density: lightweight, low inertia.
 Capability to absorb shock and vibration as a result of elastic compliance.
 Ability to operate with minimum or no lubrication, due to inherent lubricity.
 Relatively low coefficient of friction.
 Corrosion-resistance; elimination of plating, or protective coatings.
 Quietness of operation.
 Tolerances often less critical than for metal gears, due in part to their greater
resilience.
 Consistency with trend to greater use of plastic housings and other components.

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CHAPTER 5

SOFTWARE DESCRIPTION

5.1 ARDUINO IDE:

The ardunio integrated development environment (IDE) is a cross-platform
application (for windows, macos, linux) that is written in the programming language java it
is used to write and upload programs to arduino board.the source code for the ide is released
under the gnu general public license, version 2. The arduino IDE supports the
languages C and C++ .

5.1.1 HOW TO SET UP THE ARDUINO IDE

In this section, we will learn in easy steps, how to set up the arduino ide on
our computer and prepare the board to receive the program via usb cable.

Step 1 − first you must have your arduino board (you can choose your favorite board) and a
usb cable. In case you use arduino uno, arduino duemilanove, nano, arduino mega 2560, or
diecimila, you will need a standard usb cable (a plug to b plug), the kind you would connect
to a usb printer as shown in the following image.

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Step 2 − Download Arduino IDE Software.

You can get different versions of Arduino IDE from the Download page on
the Arduino Official website. You must select your software, which is compatible with your
operating system (Windows, IOS, or Linux). After your file download is complete, unzip the
file.

Step 3 − Power up your board.

The Arduino Uno, Mega, Duemilanove and Arduino Nano automatically draw
power from either, the USB connection to the computer or an external power supply. If you
are using an Arduino Diecimila, you have to make sure that the board is configured to draw
power from the USB connection. The power source is selected with a jumper, a small piece
of plastic that fits onto two of the three pins between the USB and power jacks. Check that it
is on the two pins closest to the USB port. Connect the Arduino board to your computer
using the USB cable. The green power LED (labeled PWR) should glow.

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Step 4 − Launch Arduino IDE.

After your Arduino IDE software is downloaded, you need to unzip the folder.
Inside the folder, you can find the application icon with an infinity label (application.exe).
Double-click the icon to start the IDE.

Step 5 − Open your first project.

Once the software starts, you have two options −

1.Create a new project

2 .Open an existing project example.

To create a new project, select File → New.

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To open an existing project example, select File → Example → Basics → Blink.

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Here, we are selecting just one of the examples with the name Blink. It turns
the LED on and off with some time delay. You can select any other example from the list.

Step 6 − Select your Arduino board.

To avoid any error while uploading your program to the board, you must
select the correct Arduino board name, which matches with the board connected to your
computer.

Go to Tools → Board and select your board.

Here, we have selected Arduino Uno board according to our tutorial, but you must select the
name matching the board that you are using.

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Step 7 − Select your serial port.

Select the serial device of the Arduino board. Go to Tools → Serial Port
menu. This is likely to be COM3 or higher (COM1 and COM2 are usually reserved for
hardware serial ports). To find out, you can disconnect your Arduino board and re-open the
menu, the entry that disappears should be of the Arduino board. Reconnect the board and
select that serial port.

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Step 8 − Upload the program to your board.

Before explaining how we can upload our program to the board, we must
demonstrate the function of each symbol appearing in the Arduino IDE toolbar.

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5.2 MIT APP INVENTOR

App Inventor for Android is an open-source web application originally

provided by Google, and now maintained by the Massachusetts Institute of
Technology. It allows newcomers to computer programming to create software
applications for the Android operating system.

STEP-1:

Open new browser and search mit app inventor.

STEP-2:

 Next click on the create apps

 go to my projects click on start new project.

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STEP-3:

Create new project

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STEP-4:

Pick the required components on screen

STEP-5:

Go to blocks ,arrange the required blocks and then build the blocks

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STEP-6:

After build the blocks ,it gives the bar code

Using QR & BAR CODE app we can scan the bar code and then it create the link .using that
link we can download the voice controlled robot app.

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CHAPTER-6

RESULTS

Result of voice controlled robot

STEP-1

 Connect bluetooth to the HC-05 device.

 Pair the HC-05 device .

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STEP-2:

 Intall the IP web cam app

 Open the web cam and click on the start server ,it generates some IP address

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STEP-3

Open the voice controlled robot app and then connect the Bluetooth (hc-05)device and type
the IP address in the app.

Here we can see the

 robot moments lively

 record the video
 capturing the images

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final result of voice controlled robot

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CHAPTER -7

CONCLUSION AND FUTURE SCOPE

7.1 Conclusion

The aim of technology seems to be to reduce the human effort to minimum. The
voice operated robot proves to be a valuable device to reduce human effort .this whole system
is based on arduino which is low cost and this device is reliable. The robot is useful in places
where humans find difficult to reach but human voice reaches and also robot can be used for
surveillance , military.

7.2 Future scope

 We can also extend our project to advanced application by extending its range ,by
using zigbee technology or raspberry pi.
 We can also proceed to construct a full fiedged robot to carry out more complex tasks
 We cn program the robot to shoot a target.
 We can use wifi module and GPS.

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APPENDIX

CODE

const int lm1=3;

const int lm2=2;

const int rm1=4;

const int rm2=5;

const int trig=6;

const int echo=7;

void setup() {

// put your setup code here, to run once:

pinMode(lm1,OUTPUT);

pinMode(lm2,OUTPUT);

pinMode(rm1,OUTPUT);

pinMode(rm2,OUTPUT);

pinMode(trig,OUTPUT);

pinMode(echo,INPUT);

Serial.begin(9600);

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void loop() {

// put your main code here, to run repeatedly:

if(Serial.available())

int x=Serial.read();

if(x=='2')

Serial.println("FRONT");

digitalWrite(lm1,1);

digitalWrite(lm2,0);

digitalWrite(rm1,1);

digitalWrite(rm2,0);

if(x=='8')

Serial.println("BACK");

digitalWrite(lm1,0);

digitalWrite(lm2,1);

digitalWrite(rm1,0);

digitalWrite(rm2,1);

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 VOICE CONTROLLED ROBOT

if(x=='4')

Serial.println("LEFT");

digitalWrite(lm1,1);

digitalWrite(lm2,0);

digitalWrite(rm1,0);

digitalWrite(rm2,0);

if(x=='6')

Serial.println("RIGHT");

digitalWrite(lm1,0);

digitalWrite(lm2,0);

digitalWrite(rm1,1);

digitalWrite(rm2,0);

if(x=='5')

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 VOICE CONTROLLED ROBOT

Serial.println("STOP");

digitalWrite(lm1,0);

digitalWrite(lm2,0);

digitalWrite(rm1,0);

digitalWrite(rm2,0);

digitalWrite(trig,0);

delayMicroseconds(2);

digitalWrite(trig,1);

delayMicroseconds(10);

digitalWrite(trig,0);

delayMicroseconds(2);

int dist=(pulseIn(echo,1))/58;

Serial.println(dist);

if(dist<30)

digitalWrite(lm1,0);

digitalWrite(lm2,0);

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 VOICE CONTROLLED ROBOT

digitalWrite(rm1,0);

digitalWrite(rm2,0);

delay(500);

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REFERENCES

1) A. K. And r. C. , "voice controlled robot,"international journal of innovative research

in technology, vol. 1, no. 11, pp. 338-344, 2014.

2) A study on real-time control of mobile robot with based on voice command, byoung-
kyun shim ; yoo-ki cho ;jong-baem won;sung-hyunhan control, automation and
systems (iccas), 2011 11th international conference on publication year: 2011.

3) Voice controlled robotic system using arduino microcontroller international journal

of new technology and research (ijntr)issn: 2454-4116, volume-3, issue-4, april 2017

4) Arduino based bluetooth controlled robot international journal of engineering trends

and technology (ijett) – volume 32 number 5- february 2016

5) Robot voice a voice controlled robot using arduino international journal of

engineering and advanced technology (ijeat) by vineeth teeda, k.sujatha, rakesh
mutukuru issn: 2249 – 8958, volume-5, issue-6, august 2016

6) Voice controlled robotic vehicle international research journal of engineering and

technology (irjet) e-issn: 2395 -0056 volume: 04 issue: 06 | june-2017 www.irjet.net
p-issn: 2395-0072

7) Speech recognition system for a voice controlled robot with real time obstacle
detection and avoidance 1yasir ali memon, 2imaaduddin motan, 3muhammad ali

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 VOICE CONTROLLED ROBOT

akbar, 4sarmad hameed,5moez ul hasan international journal of electrical,

electronics and data communication, issn: 2320-2084 volume-4, issue-9, sep.-2016

8) Android application based bluetooth controlled robotic car ayan maity1 , avijit paul1
priyanka goswami2, ankan bhattacharya1 international journal of intelligent
information systems 2017

9) P. Rasal, "voice controlled robotic vehicle”, international journal of new trends

in electronics and communication (ijntec), vol. 02, no. 01, pp. 28-30, 2014.

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international research journal of engineering and technology (irjet), vol. 02, no. 01,
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showing writing skills by speech recognition”, international conference on emerging
trends in robotics and communicationtechnologies (interact), chennai, pp. 12 - 15,
december 2010

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 VOICE CONTROLLED ROBOT

15) Speech recognition and its application in voicebased robot control system, luo
zhizeng; zhaojingbing intelligent mechatronics and automation, 2004. Proceedings.
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16) a study on precise control of autonomous driving robot by voice recognition, sung-
won jung ; ki-won sung ; moon-youl park ; eon-uck kang ;won-jun hwang ; jong-dae
won; woo-song lee ; sung-hyun han robotics (isr), 2013 44 th international,
symposium on doi:10.1109/isr.2013.6695640 publication year: 2013

17) a mechanism for human - robot interaction through informal voice commands,
d'mello, s.; lee mccauley, ; markham, james robot and human interactive
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18) K. And r. C. , "voice controlled robot," international journal of innovative research in

technology, vol. 1, no. 11, pp. 338- 344, 2014.

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journal of engineering and technology (irjet), vol. 02, no. 01, pp. 49-51, march 2015.

20) S. N. And s. , "design of a voice controlled robotic arm for picking and placing an
object" iosr journal of engineering, vol. 2(4), pp. 670-673, april 2012

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PERSONAL PROFILE

Name : P.JAYASRI

Father’s name : P.SRINIVASARAO

Course : B.TECH

Branch : Electronics and Communication Engineering.

Roll No. : 15F01A04F1

Date of Birth : 31-12-1997

Marital Status : Unmarried

Mobile No : 8919602334

E-mail : [email protected]

Permanent Address : Thotavaripalam near three road center ,

Prakasam Dist(A.P)

DEPT. OF ECE, ST .ANN’S COLLEGE OF ENGINEERING & TECHNOLOGY PAGE 64