ISSN (Online) 2581-9429

IJARSCT
International Journal of Advanced Research in Science, Communication and Technology (IJARSCT)
International Open-Access, Double-Blind, Peer-Reviewed, Refereed, Multidisciplinary Online Journal
Impact Factor: 7.301 Volume 3, Issue 15, May 2023

Human Following Luggage Carrying Robot

Prof. Sachin B. Pawar, Akanksha M. Patil, Chinmay A. Ranade, Tushar U. Joshi
BE, EnTC
Sinhgad College of Engineering, Pune, India.

Abstract: The potential for human-following robots to revolutionize a variety of industries, including retail,
security, and healthcare, has led to an increase in their popularity in recent years. This study summarises
the state of the art in research on human following robots, highlighting the many development methods and
approaches. The study also pinpoints potential future possibilities for the advancement of human-following
robots, such as the incorporation of artificial intelligence and machine learning strategies, advancements in
sensor technology, and the investigation of novel uses for these machines.

Keywords: Autonomous, Embedded System, RSSI, Bluetooth Low Energy

I. INTRODUCTION
Robots that can track and follow human targets in a variety of environments are called human-following robots. These
robots are made to maneuver through challenging settings, dodging hazards and adjusting to environmental changes
while keeping a safe distance from the person they are pursuing. Detection and localizing the human target under
observation is one of the fundamental tasks for a robot. Robotics has received a lot of interest recently since it can help
people with many daily tasks, such as carrying bags at a grocery store or train station or giving tours in museums or
foreign locations. Different robotic sensing systems for localizing human movements rely on acoustic, ultrasonic, and
optical image sensors. The inability of acoustic and ultrasonic sensors to differentiate between human targets and other
things, however, limits their utility.

1.1 Problem Statement

We all have experienced problems while traveling because of heavy luggage. Even with trolley bags, luggage seems to
be heavy to carry at airports, railway stations, and bus stands.

II. LITERATURE SURVEY

Mentioned are some of the literature surveys from previously published papers
Method 1 -
 The method used to calculate the location is triangulation.
 The distance between the emitter and each antenna will be calculated using the RSSI method.
 The use of three antennas will provide high accuracy. The robot will transmit and receive signals via. a
Bluetooth module. Thus, the robot can be used as an autonomous vehicle or it can be controlled.

Method 2–
 Motor driver is coupled with a servo motor at the face of the robot to have circular motion for the functioning
of other sensors on the robot which helps to locate and determine the presence and the distance at which the
human is located.
 The IR sensor placed at the head of the robot helps to determine the presence of any object in front of it by
emitting infrared radiations and detecting its reflection.

Method 3 –
 A person-follower robot is an autonomous robot that is able to follow the colour by using an android camera
and continuously capture the image by using image processing technology.

Copyright to IJARSCT DOI: 10.48175/IJARSCT-10923 284

www.ijarsct.co.in
 ISSN (Online) 2581-9429
IJARSCT
International Journal of Advanced Research in Science,, Communication and Technology (IJARSCT)
International Open-Access,
Access, Double-Blind,
Double Peer-Reviewed,
Reviewed, Refereed, Multidisciplinary Online Journal
Impact Factor: 7.301 Volume 3, Issue 15, May 2023

 Android device will take decision according to the captured image and send it to the AVR atmega32 controller
through HC05 Bluetooth module and another technology is using HC-SR04
HC SR04 ultrasonic sensor.
 If any obstacle comes in between the person and robot, it will stop
stop the robot immediately.

III. BLOCK DIAGRAM

Explanation
In this project, we have developed a robot that follows a human within its detecting range. The user with a mobile
device consisting of Bluetooth and a gyroscopic sensor is connected to the system’s microcontroller (ESP-32) via
Bluetooth through an app interface. It shares significant information such as azimuth angle (helps in locating the mobile
device. The system majorly consists of components such as Microcontroller (ESP-32),
(ESP 32), Ultrasonic sensors(H
sensors(HC05),
Buzzer, Compass(Magnetometer HMC5883L), Motor driver(L298N), DC Motors (300rpm), along with the batteries
(lithium-ion 12V 2.6Ah) and solar panels (12V 100mA) for power supply. The motor driver consists of two L298N
chips that can individually controll the DC motors. The ultrasonic sensor helps determine any obstacle within its path
and alert using a buzzer. Compass helps the system to determine its own direction. All these components are connected
to the microcontroller on a PCB board. The microcontroller
microcontro ller uses the RSSI technology to determine the distance
between the system and the mobile device. The program is responsible for the response of the robot to various inputs is
transferred to the microcontroller. On supplying power to the machine, we can witness ness the working of our Human
Following Robot under different conditions.

Copyright to IJARSCT DOI: 10.48175/IJARSCT-10923 285

www.ijarsct.co.in
 ISSN (Online) 2581-9429
IJARSCT
International Journal of Advanced Research in Science, Communication and Technology (IJARSCT)
International Open-Access, Double-Blind, Peer-Reviewed, Refereed, Multidisciplinary Online Journal
Impact Factor: 7.301 Volume 3, Issue 15, May 2023

IV. CONCLUSION
An implementation of a human following robot is illustrated in this report. This robot does not only have object
detection capability but also tracks and follows the person. The tracking is basically performed using RSSI technology
and azimuth angle. The different sensors were integrated with the robot which added an additional advantage. The robot
can also be controlled remotely using a smartphone via Wi-Fi.

ACKNOWLEDGMENT
We would like to express our sincere thanks to Prof. S.B. Pawar, Project Coordinator, Department of E&TC, for his
constant encouragement in the fulfillment of the project work. We would also like to express our sincere thanks to Dr.
M. B. Mali, Head, Department of E&TC for his co-operation and useful suggestions. We would also like to thank Dr.
S. D. Lokhande, Principal, Sinhgad College of Engineering. He always remains a source of inspiration for us to
work hard and dedicatedly.
It is the love and blessings of our families and friends which drove us to complete this project work.
Thank you all!

REFERENCES
[1] Prof. M. H. Thigale, Rhishikesh Patil, Pranav Nerlekar, Omkar Palkar, Survey Paper on Human Following Robot.
[2] By. JISHNU S , DIWAKAR BABU Y , Mr. SAMPATH KUMAR S, Human Following Robot.
[3] By. Algule Pallavi, Bhandare Shital, Jadhav Supriya, Prof. S. A. Itkarkar, Person Follower Robot.

Copyright to IJARSCT DOI: 10.48175/IJARSCT-10923 286

www.ijarsct.co.in