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Voice Controlled Robot with Obstacle Detection

Article · April 2023

DOI: 10.15662/IJAREEIE.2022.1204039

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 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

Voice Controlled Robot with Obstacle

Detection
Sanjana R1, Shivani R Shankar2 , Dr M V Sreenivas Rao3
UG student Department of Electronics and Instrumentation Engineering, GSSS Institute of Engineering and
Technology for women, Mysuru, India1
UG student Department of Electronics and Instrumentation Engineering, GSSS Institute of Engineering and
Technology for women, Mysuru, India2
Associate Professor Department of Electronics and Communication Engineering, GSSS Institute of Engineering and
Technology for women, Mysuru, India3

ABSTRACT: Robot is a multifunctional, reprogrammable device. It is designed to work like humans such as loading
unloading, health care, pick and place, industries and surveillance. The voice-controlled obstacle detection robot
described in this project is designed to perform various tasks. It is built using an Arduino UNO microcontroller, L293D
motor driver, ultrasonic sensor, HC-05 Bluetooth module, servo motor, gear motors, and Li-ion batteries. The robot is
controlled through voice commands, which is transmitted wirelessly from an Android app to the Arduino UNO through
the Bluetooth module. The microcontroller processes the voice commands and controls the direction of the robot
accordingly. The ultrasonic sensor detects obstacles in front of the robot and sends the signal to the Arduino UNO. The
Arduino UNO then compares the received signal and determines the appropriate action to be taken. The software used
to write the code is Arduino Integrated Development Environment (IDE), which provides a text editor, message area,
text console, and menus for writing and compiling the code in Embedded C. An Android app called Arduino blue
control is used to provide commands to the robot. The android app has voice command configuration. We configure
each voice command with its respective symbols. Experimental results show that the robot can move in different
directions such as forward, backward, left, and right based on the user's voice commands. The servo motor allows the
ultrasonic sensor to rotate 180 degrees, enabling obstacle detection in different directions. The applications of this robot
include low-range mobile surveillance devices, home automation, and assistive devices for people with disabilities. It
can be used for tasks that require continuous work without rest, and in environments that may be dangerous for humans
to access.

KEYWORDS Voice controlled, Obstacle detection, Bluetooth module, Ultrasonic sensor, Mobile robot.

I. INTRODUCTION

In voice controlled robots Arduino UNO, Bluetooth module is used to control the Robot. An Android app is used to
control a robot via Bluetooth, and the robot is equipped with sensor to detect nearby obstacles. The app allows the user
to control the speed and direction of the robot using voice commands. To achieve this, the app uses speech recognition
technology to interpret the user's voice commands and send them to the robot via Bluetooth. The robot is equipped with
a microcontroller to receive the commands and control the motor driver to control the wheels. To detect obstacles,
ultrasonic sensor is used. The sensor allows the robot to measure the distance of the nearest obstacle and adjusts its
course accordingly. Overall, this project combines a number of technologies, including speech recognition, Bluetooth
communication, microcontroller programming, and sensor integration.

An android application called Arduino Bluetooth control and a Bluetooth communication is made with robot
which interfaces with microcontroller to control its speed and direction. Aim of this work is to design and control the
robot through voice commands using Bluetooth. Android phones are most popular gadgets these days. You will find
various apps on the Internet that exploit inbuilt hardware in these mobile phones, such as Bluetooth and Wi-Fi, to
control other devices. Presented here is a Voice controlled Robot with Obstacle detection that can be controlled via an
app on the mobile phone. The control commands are sent via Bluetooth and the robot has such features as:
(1) It can be controlled through an app on an android phone by voice commands.
(2) The speed of the robot can be controlled.

IJAREEIE © 2023 | An ISO 9001:2008 Certified Journal | 940

 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

(3) The robot will sense the distance of the nearest obstacle.

II. LITERATURE REVIEW

This section provides an overview of previous research papers and projects related to the topic Voice controlled Robot
with Obstacle detection. Srivastava and others developed a Voice Controlled Robot Car using Arduino, where they
used the HC-05 Bluetooth module for wireless communication and voice commands given through a mobile
application [1]. Bhikuleand others developed an Obstacle Avoidance and Voice Control Unit for an Autonomous Car,
they used an RF transmitter for signal transmission and a Bluetooth module for establishing communication between
the robot and voice commands. They used an Arduino UNO for reading voice commands and controlling the robot [2].
P. Narendra Ilaya Pallavan and others developed a Voice Control Robot with Real-time Barrier Detection and Averting,
based on sound wave transmission and reflection from a sensor. The robot stops upon detecting an obstacle and waits
for further instructions [3]. Rahul A. Narhare and others developed a Smart Voice Controlled Vehicle with Obstacle
Detection using IOT, they took inputs from an Android app for basic movements and established connection via a
Bluetooth module. They used an ultrasonic sensor to prevent collisions [4]. Ritika Dhabliya and others developed a
project for Obstacle Detection and Text Recognition for Visually Impaired Persons based on Raspberry Pi. They used a
camera to capture objects, compared them with predefined images, and provided voice output for object recognition by
blind individuals [5]. Lv and others have developed "Robot control based on voice command" In this paper, they have
used a robot which has the ability to apply speech recognition techniques to the control application. The robot can
understand control commands and execute the corresponding action [6]. Basyal and others have developed "Voice
recognition robot with real time surveillance and automation "This paper enhances the concept of real-time surveillance
and automation where an obstacle detection and avoidance mechanism along with lighting and horn operates through
predefined voice command [7]. Rashid and others have developed “Design and implementation of a voice controlled
robot with human interaction ability” The paper presents the development of a voice controlled talking robot using
mobile phone based on Arduino Uno microcontroller. The proposed system is designed based on microcontroller 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 data to the microcontroller for controlling robot movement.
After getting each command the robot will perform according to the instruction and will be able to speak different
sentences [8]. Shim and others have developed "An intelligent control of mobile robot based on voice command." This
paper, describes a voice recognition control system for robot system which can recognize voice in noisy environments.
To suppress interference and noise and to attenuate reverberation, they implemented a multi-channel system consisting
of a generalized side-lobe canceller technique and a feature-space noise suppression using MMSE criteria [9]. Sachdev
and others have developed "Voice-controlled autonomous vehicle using IOT." In this paper, they have presented the
idea of a low-cost autonomous vehicle, which will be controlled by voice commands, given by the user [10].
These research papers provide insights for the development of the Voice controlled Robot with Obstacle detection,
including the Bluetooth communication, obstacle detection sensors, and voice commands for controlling the robot's
movements.

III. METHODOLOGY

Voice commands are sent through the Android app, Bluetooth module establishes a wireless communication between
the app and the robot. The block diagram of Voice controlled Robot with Obstacle detection is shown in Fig1. The
system operates as follows:

Voice Android app Bluetooth Arduino Motor driver

commands module HC-05 UNO L293D

Ultrasonic DC Geared
sensor Motor

Fig 1: The block diagram of Voice Controlled Robot with Obstacle Detection

IJAREEIE © 2023 | An ISO 9001:2008 Certified Journal | 941

 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

The Bluetooth module receives the signals and sends them to the Arduino microcontroller for processing. The Arduino
microcontroller processes the received signals and sends corresponding commands to the motor driver. The motor
driver, which is mounted on the Arduino UNO, controls the gear motors of the robot based on the commands received
from the Arduino. The ultrasonic sensor, which is connected to the Arduino, detects obstacles in front of the robot and
sends signals to the Arduino. The Arduino compares the received obstacle detection signals with the program and
determines what action to be taken. The motor driver shield controls the gear motors.

The TX and RX pins of the Arduino are connected to the RX and TX pins of the Bluetooth module to establish
communication. The Bluetooth module is powered by 5V, and the GND of the ultrasonic sensor is connected to the
GND of the Arduino. The ECHO pin of the ultrasonic sensor is connected to A0, the TRIG pin is connected to A1, and
VCC is connected to 5V of the Arduino. Voice commands are processed by the mobile phone and sent to the robot via
Bluetooth. The received message via Bluetooth is forwarded to the Arduino using UART serial communication
protocol. The Arduino code checks the received message, and when it matches with a predefined string, it controls the
movements of the robot accordingly, including forward, backward, turning right, turning left, and stop actions. Overall,
the Voice controlled Robot with Obstacle detection uses an Android app, Bluetooth module, Arduino microcontroller,
motor driver shield, gear motors, and ultrasonic sensor to enable voice commands for controlling the robot movements
and obstacle detection capabilities.

IV. HARDWARE DESCRIPTION

The main hardware components used in this work are Arduino UNO, Bluetooth module HC-05, Motor driver L293D,
Ultrasonic sensor.

4.1 Bluetooth HC-05

The Bluetooth module, specifically the HC-05 module, is a crucial component in the Voice controlled Robot with
Obstacle detection system. It is responsible for establishing wireless communication between the user (transmitter) and
the robot (receiver).

The HC-05 module uses serial communication to connect with the microcontroller, allowing for data transmission and
reception. The HC-05 module operates in both master and slave modes, which mean it can either transmit or receive
data. It can be connected to various devices, such as mobile phones, handheld computers, and laptops, via the built-in
UART (Universal Asynchronous Receiver/Transmitter) interface. This allows for communication with other Bluetooth-
enabled devices. The HC-05 module requires a supply voltage of 3.6V to 6V to operate effectively. It is an essential
component that enables wireless communication and interaction between the user and the robot in the Voice controlled
Robot with Obstacle detection system.

Fig 2: HC-05

4.2 Arduino UNO

The Arduino UNO is a microcontroller board that serves as the brain of the Voice controlled Robot with Obstacle
detection system. It has both analog and digital pins, a USB connection for programming the on-board microcontroller,
a power jack, an ICSP (In-Circuit Serial Programming) header, and a reset button. The motor driver shield, which
controls the motors of the robot, is mounted on top of the Arduino UNO. The program for controlling the robot is
uploaded to the Arduino UNO via a data cable, allowing the microcontroller to execute the desired actions for the

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 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

robot. The Arduino UNO is known for its affordability, ease of use, and compact size, making it a popular choice for
various projects, including robotics. The Arduino UNO also has several test points (TP0, TP1, TP2, TP3, TP4) on the
board for debugging and troubleshooting purposes. These test points provide access to different voltage levels, such as
0V (GND), 5V, 9V, and high pulse corresponding to the distance of the obstacle. These test points can be used to
measure and monitor the signals and voltages during operation, aiding in the development and testing of the robot
system. The microcontroller on the Arduino UNO is programmed using the Arduino programming language, which is a
simplified version of C/C++.

Fig3: Arduino UNO

4.3 Ultrasonic sensor

The Ultrasonic sensor, as shown in Figure 4.4 of the system, is a module that uses sonar technology to determine the
distance from an obstacle to the sensor. It is commonly used in robotics and automation projects for proximity sensing
and obstacle detection. The HC-05 ultrasonic sensor module is equipped with an ultrasonic transmitter and a receiver
module. To measure the distance between the sensor and the obstacle, pin 2 (TRIG) of the module needs to receive a
high pulse for at least ten microseconds. This pulse triggers the module to transmit eight cycles of ultrasonic burst at a
frequency of 40 kHz, which then travels towards the obstacle and reflects back. When the sensor detects the reflected
ultrasonic burst, it sets pin 3 (ECHO) to a high state. The duration of the reflected pulse, measured in microseconds,
depends on the distance between the sensor and the obstacle.

Fig 4: Ultrasonic sensor

1.4 Motor driver L293D

The Motor driver L293D is shown in the Fig 5. L293D is a basic motor driver integrated chip that enables us to drive a
DC motor in either direction and also control the speed of the motor. The L293D is a 16 pin IC, with 8 pins on each
side, allowing us to control the motor. It means that we can use a single L293D to run up to two DC motors. L293D
consist of two H-bridge circuit. H-bridge is the simplest circuit for changing polarity across the load connected to it.
Since we are using four wheels only two IC is required.

IJAREEIE © 2023 | An ISO 9001:2008 Certified Journal | 943

 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

Fig 5: L293D motor driver

V. SOFTWARE REQUIREMENTS

The software requirements for the system include the use of the Arduino Integrated Development Environment (IDE)
and Arduino Blue control app.

5.1 Arduino Integrated Development Environment

The software requirements for the system include the use of the Arduino Integrated Development Environment (IDE),
also known as Arduino Software, for writing and uploading code to the Arduino UNO microcontroller. The Arduino
IDE provides a text editor for writing code, a message area for feedback, a text console for displaying output, a toolbar
with buttons for common functions, and menus for various options. The programming language used for writing code
for the system is Embedded C, which is a low-level programming language commonly used in embedded systems,
including microcontrollers like Arduino UNO. Embedded C allows for writing code to control various functions of the
robot, such as forward direction, left turn, right turn, backward direction, and stop. The code is written in the Arduino
IDE using the C syntax and libraries specific to Arduino, which provide functions for controlling the Arduino UNO's
pins and other peripherals, such as the motor driver and ultrasonic sensor, to achieve the desired robot movements and
actions.

5.2 Arduino Blue control App

The Fig 6 shows the overview of the Android app – Arduino blue control. The app has voice command configuration
through which the users voice commands can be configured into symbols accordingly. These symbols are
communicated to the robot through the bluetooth module which is processed by the microcontroller and appropriate
actions are taken. The Google speech service converts audio to text and shares the text with this app. The steps
involved in operating the android app are show in Fig 6.

IJAREEIE © 2023 | An ISO 9001:2008 Certified Journal | 944

 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

(i) (ii) (iii) (iv)

Fig 6: (i) Arduino blue control interface (ii) Voice command configuration window
(iii) Mic to provide the voice commands (iv) The commands recognized by the app

VI. RESULTS AND DISCUSSION

The robot is being controlled through an android application. Using Bluetooth, a communication is established between
the robot and the android application. The robot movements can be controlled by voice commands, the robot stops
when an object is detected in its path and resumes back the movement when next command is given.
Fig 7 shows the different views of the mobile robot during its movements. The observed results are the robot moves in
forward, backward, left and right directions. And to stop the robot stop command is used.

(i ) (ii)

IJAREEIE © 2023 | An ISO 9001:2008 Certified Journal | 945

 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

(iii) (iv)
Fig 7: (i) Top view of the robot (ii) left movement (iii) right movement (iv) front view

VII. CONCLUSION

The voice-controlled Robot with obstacle detection is a successfully designed that has the potential to perform various
industrial and domestic applications related to automation in daily activities. The use of voice commands allows for
easy and intuitive control of the robot, making it suitable for tasks such as firefighting, automated plant watering, and
military purposes where human intervention may be risky or not feasible.
Overall, voice-controlled robots have significant potential in various domains, and further advancements and
applications are expected in the future. The development of such robots can greatly contribute to automation and
efficiency in various industries, also improve the quality of life for individuals with disables.

VIII. FUTURE SCOPE

A robotic arm can be mounted on the mobile robot to assist bedridden patients. It can also be utilized to assist disabled
individuals who may have limited mobility but can provide voice commands to operate the robot and perform tasks on
their behalf. Furthermore, the project can be further developed into a fully automated humanoid robot capable of
detecting enemies in a war field and taking appropriate action.

REFERENCES

[1] Srivastava, Shubh, and Rajanish Singh. "Voice controlled robot car using Arduino." International Research
journal of Engineering and Technology 7, no. 5 (2020): 4033-4037.
[2] Bhikule, Mr. Abhishek, Mr. ShubhamMankame, MsSanikaKhot, MrYogirajNhawkar, and MrShrikant Baste.
"Obstacle Avoidance and Voice Control Unit for Autonomous Car." (2021).
[3] P. Narendra Ilaya Pallavan and others. “Voice Controlled Robot with Real Time Barrier Detection and Averting”
International Research Journal of Engineering and Technology (IRJET) (2019): 2395-0072
[4] Rahul A Narhare and others. “Smart Voice Controlled Vehicle with Obstacle Detection Using IOT”. International
journal of innovative research in technology(IJIRT) (2020): 2349-6002
[5] Dhabliya, Mrs. Ritika. "Obstacle Detection and Text Recognition for Visually Impaired Person Based on
Raspberry Pi." International Journal of New Practices in Management and Engineering 9.02 (2020)
[6] Lv, Xiaoling, Minglu Zhang, and Hui Li. "Robot control based on voice command." In 2008 IEEE International
Conference on Automation and Logistics, pp. 2490-2494. IEEE, 2008.
[7] Basyal, Lochan, Sandeep Kaushal, and Gurjeet Singh. "Voice recognition robot with real time surveillance and
automation." International Journal of Creative Research Thoughts 6, no. 1 (2018): 2320-2882.
[8] Rashid, H., Ahmed, I. U., Osman, S. B., Newaz, B., Rasheduzzaman, M., & Reza, S. T. “Design and
implementation of a voice controlled robot with human interaction ability”. In International Conference on
Computer, Communication, Chemical, Materials and Electronic Engineering (2017) pp. 148-151.

IJAREEIE © 2023 | An ISO 9001:2008 Certified Journal | 946

 International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (IJAREEIE)

| e-ISSN: 2278 – 8875, p-ISSN: 2320 – 3765| www.ijareeie.com | Impact Factor: 8.317|

||Volume 12, Issue 4, April 2023||

|DOI:10.15662/IJAREEIE.2022.1204039 |

[9] Shim, Byoung-Kyun, Kwang-wook Kang, Woo-Song Lee, Jong-Baem Won, and Sung-Hyun Han. "An intelligent
control of mobile robot based on voice command." In 2012 12th International Conference on Control, Automation
and Systems, pp. 1878-1881. IEEE, 2012.
[10] Sachdev, Sumeet, Joel Macwan, Chintan Patel, and NishantDoshi. "Voice-controlled autonomous vehicle using
IOT." Procedia Computer Science 160 (2019): 712-717.

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