VISVESVARAYA TECHNOLOGICAL UNIVERSITY

JNANA SANGAMA, BELAGAVI-590018

PROJECT REPORT
on
VOICE CONTROL ROBOT USING ARDUINO
submitted by

DARSHAN C 1IC23ME401

KARTIK D AMARAGOL 1IC23ME404

MANOJ 1IC23ME406

VIGHNESH N BHANDARY 1IC23ME421

under the guidance of

BALASUBRAMANYAN
Assistant Professor,
Department of Mechanical Engineering

Impact College of Engineering and Applied Sciences

Kodigehalli, Sahakara Nagar South, Bangalore, Karnataka-
560092

2024
IMPACT COLLEGE OF ENGINEERING AND APPLIED SCIENCES

DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE

Certified that the Project Phase-I work entitled “VOICE CONTROL ROBOT
USING ARDIUNO” carried out by DARSHAN C (1IC23ME401), KARTIK D

AMARAGOL (1IC23ME404), MANOJ (1IC23ME406), VIGHNESH N

BHANDARY (1IC23ME421) are Bonafide students of IMPACT COLLEGE OF
ENGINEERING AND APPLIED SCIENCES of the
VISVESVARYA TECHNOLOGICAL UNIVERSITY, Belagavi during the year 2024-
2025. It is certified that all corrections/suggestions indicated for all internal assessments
have been incorporated in the report deposited in the department library.

This report satisfies the academic requirement in respect of project phase-II prescribed for
the Bachelor of Engineering degree.

Prof. Prof. Saleha Nadeem Dr. JARLUMEDI BABU

BALASUBRAMANAYA
Assistant Professor & Head Principal
Assistant Professor

Name of Examiner Signature of Examiner

1. ............................................. 1. ............................................

2. ................................................ 2. .............................................
ACKNOWLEDGEMENT

We would like to express our sincere gratitude to several individuals and organizations for
supporting us throughout our Graduate study. First, we wish to express our sincere gratitude
to our supervisor/guide, assistant Professor BALASUBRAMANAYA, for her enthusiasm,
patience, insightful comments, helpful information, practical advice and unceasing ideas
that have helped us tremendously at all times in our project work. Her immense knowledge,
profound experience and professional expertise in Design has enabled us to complete this
project successfully. Without her support and guidance, this project would not have been
possible.
We are also grateful to the faculty’s and head of the department, of Mechanical branch
ICEAS, for guiding us throughout our academics and project work by various means and
the PRINCIPLE ICEAS for encouraging us with his ideas and experience.
Thank you all for your encouragement!
 ABSTRACT
The project "Voice Control Robot Using Arduino" focuses on the development of a robotic
system that can be controlled through voice commands, utilizing Arduino as the primary
microcontroller. The system integrates a microphone module to capture voice commands,
which are then processed by a speech recognition system. Once the voice command is
identified, the Arduino controls the movement of the robot, accordingly, enabling hands-free
operation for tasks such as navigation or object manipulation.

To implement this, a voice recognition module is interfaced with the Arduino, enabling it to
recognize predefined commands such as "forward," "backward," "left," and "right." The robot
uses motor drivers to control the movement of its wheels, responding to the input received
from the voice commands. The project employs basic components such as motors, motor
drivers, and sensors, demonstrating how simple hardware can be leveraged to create an
intelligent, interactive system.

This project showcases the potential of integrating voice control with robotics, allowing users
to control a robot with minimal physical interaction. It opens avenues for further development
in assistive technologies, where voice-controlled robots could be employed for tasks in
healthcare, education, or accessibility applications. The combination of Arduino and speech
recognition offers a low-cost and flexible solution, suitable for prototyping and educational
purposes.

Additionally, this project highlights the importance of human-robot interaction, where the
intuitive nature of voice commands enhances the user experience. By eliminating the need for
complex manual controls, users, especially those with physical disabilities, can operate the
robot more effectively and independently. The system can be further expanded to include
more advanced features such as Voice Control avoidance, automatic path planning, or
integration with other smart devices. This research serves as a foundation for future
innovations in voice-controlled automation, combining ease of use with practical functionality
in various real-world applications.
 CONTENTS

SL.NO. TOPIC PG.NO.

1 INTRODUCTION 1

2 LITERATURE SURVEY 4

3 METHODOLOGY 17

4 CODE 24

5 ASSEMBLY 30

6 COST ESTIMATION 34

7 CONCLUSION 35

REFERENCES
 TABLES
SL.NO. DESCRIPTION PG.NO.

6.1 COST ESTIMATION 34

 FIGURES
SL.NO. DESCRIPTION PG.NO.

1.1 FLOOR CRANE 2

ROCKER USED FOR LIFTING OF

2.1 SUBSTANTIALLY HEAVY 8
ARCHITECTURAL BLOCK

2.2 CRANE SCHEMATIC DIAGRAM 10

2.3 TRAJAN'S LIFTING TOWER 11

3.1 METHODOLOGY FLOW CHART 17

4.1 BASE FRAME 27

4.2 BOOM 28

4.3 CYLINDER 28

4.4 HOOK 29

4.5 CONNECTING ROD 29

5.1 WELDED FRAME 30

 5.2 HYDRAULIC CYLINDER 31

5.3 ASSEMBLY 32

5.4 & 5.5 WORKING MODEL 32 &33

Voice control robot using arduino

CHAPTER - 1

INTRODUCTION

1.1 Overview of the Project

The Voice Control Robot Using Arduino project aims to develop a robot that can be
controlled using voice commands, allowing users to interact with the robot without physical
or manual inputs. This project combines Arduino, a popular microcontroller platform, with
speech recognition technology to create a system that can understand and act upon voice
commands.

Key Components:

1. Arduino Board: The central microcontroller that processes signals and commands,
controlling the robot's movement and functions.

2. Voice Recognition Module: A device that converts audio signals (voice commands)
into digital commands that the Arduino can interpret and act upon. Commonly used
modules include Elec house Voice Recognition Module V3 or other compatible
modules.

3. Motor Driver: A component that enables the Arduino to control motors (such as DC
motors or servo motors) to drive the robot.

4. Motors: Typically, DC motors or stepper motors, these are responsible for moving
the robot.

5. Power Supply: Provides the necessary voltage to power the Arduino and the motors.

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Problem Definition

The goal of the Voice Control Robot Using Arduino project is to create a robot that can be
controlled through voice commands. This system addresses several key challenges:

1. Lack of Intuitive Human-Robot Interaction (HRI):

 Traditional robotic systems rely on manual controls such as joysticks, keyboards, or

remote controls, which may not be user-friendly for individuals with disabilities or
those looking for a more hands-free method of interaction.

 There is a need for a more intuitive and efficient means of controlling robots without
requiring direct physical interaction.

2. Voice Command Recognition in Robotics:

 While voice recognition technology has advanced, integrating it with robotics in a

real-time, reliable, and responsive manner is still a challenge. Many existing systems
are bulky, expensive, or complex to implement.

 There is a need to develop an affordable and straightforward voice recognition system

that can be easily integrated with microcontroller-based robots like Arduino.

3. Wireless and Hands-Free Control:

 Existing robots typically require manual intervention or use of a smartphone app to

control the movements. However, for certain use cases (such as in assistive technology
or home automation), it is important to control the robot without any physical action.

 A solution that allows for wireless, hands-free operation of a robot via voice
commands can simplify tasks for individuals in various scenarios.

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1.2 Objective

 Hands-Free Operation: To enable users to control the robot's movements and

functionalities using voice commands.
 Accessible Automation: To demonstrate the integration of voice recognition
technology with Arduino for creating a cost-effective and user-friendly robotic
system

1.3 Methodology

1. Voice Recognition Integration: Use a voice recognition module (e.g., HM2007 or a

Bluetooth-based app) to capture and process voice commands, which are then transmitted
to the Arduino for execution.

2. Arduino Programming: Program the Arduino microcontroller to interpret voice

commands and control the robot's motors and other components (e.g., sensors or
actuators) accordingly.

3. Hardware Assembly: Construct the robot by assembling essential components like the
chassis, motors, wheels, Arduino board, motor driver, and voice module, ensuring
seamless communication between hardware and software.

1.4 Voice Control Robot Block Diagram

Fig 1.1 Block Diagram

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 Voice control robot using arduino

Key Components in a Voice-Controlled Robot Using Arduino:

1. ArduinobBoard:

The Arduino microcontroller (e.g., Arduino Uno) serves as the brain of the robot. It
processes input from the voice recognition module and controls the robot's motors and
other components based on the programmed commands.

2. VoiceRecognitionModule:

This module (e.g., HC-05 Bluetooth module or standalone voice recognition modules
like Elechouse V3) is responsible for capturing and interpreting voice commands. It
translates spoken words into signals that the Arduino can understand and act upon.

3. MotorDriver:

A motor driver (e.g., L298N or L293D) is used to control the robot's motors. It acts as
an interface between the Arduino and the motors, providing the necessary current and
voltage to drive the motors based on the commands received.

4. ChassisandMotors:

The chassis is the physical structure of the robot, which houses all the components.
DC motors or servo motors are mounted on the chassis to enable the robot's movement,
and they are controlled through the motor driver as per the voice commands.

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CHAPTER - 2

LITERATURE SURVEY

Paper - 1

1. Hassan, M. S., et al. (2018) Use of Bluetooth modulefor Voice Control Detection

Hassan, M. S., et al. (2018) conducted a study on the use of Bluetooth module(HC-SR04)
for Voice Control detection in autonomous robots. The study demonstrated that Bluetooth
moduleare cost-effective and reliable for distance measurement, which is essential for
avoiding Voice Controls. Their research showed that by emitting sound waves and
measuring the time it takes for the waves to bounce back, the sensor can effectively detect
Voice Controls and help the robot navigate without colliding. These findings highlight the
importance of bluetooth modulein building efficient and affordable Voice Control-avoiding
robots.

Paper - 2

2. Kim, J. W., & Kim, H. K. (2019). "Development of Autonomous Mobile Robots Using
Arduino: An Educational Approach," International Journal of Robotics and Automation,
34(3), pp. 255-266.

The Arduino platform is widely recognized for its simplicity and versatility, making it a
popular choice for educational and hobbyist robotic projects. Kim, J. W., & Kim, H. K.
(2019) explored the integration of Arduino with various sensors and actuators, including
ultrasonic modules, for developing Voice Control-avoiding robots. They emphasized the
role of Arduino in controlling sensors, motors, and other robotic components with ease,
making it an ideal microcontroller for real-time decision-making in Voice Control
avoidance tasks. The low-cost and open-source nature of Arduino facilitates the
development of practical robotic systems, which is a key advantage for educational
purposes

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Paper - 3
Lee, B. R., et al. (2020). "Development of a Reactive Voice Control Avoidance Algorithm
for Autonomous Robots," Journal of Robotics and Automation, 39(1), pp. 43-52.

Simple reactive algorithms are frequently used in Voice Control-avoiding robots to allow
them to make real-time decisions based on sensor inputs. Lee, B. R., et al. (2020) presented
a basic reactive approach where a robot continually reads distance measurements from
bluetooth moduleand takes action to avoid Voice Controls by either stopping, reversing, or
turning. Their study demonstrated that such algorithms can be implemented with minimal
computational resources, making them suitable for low-cost platforms like Arduino..

Paper - 4
Khasawneh, S. S., et al. (2021). "Enhanced Voice Control Detection in
Autonomous Robots Using Sensor Fusion," International Journal of Robotics
Research, 38(9), pp. 1081-1094.

To improve the accuracy and reliability of Voice Control detection, many researchers have
explored sensor fusion techniques. Khasawneh, S. S., et al. (2021) investigated combining
ultrasonic and infrared (IR) sensors for Voice Control avoidance in mobile robots. Their
research demonstrated that using both sensors could provide better coverage and reduce the
likelihood of detection errors, especially in cluttered or complex environments. The study
showed that while bluetooth moduleprovide accurate distance measurements, IR sensors
offer proximity detection, which can enhance the robot's ability to navigate difficult
terrains.

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Paper - 5
Bhatia, M., et al. (2020). "Path Planning for Autonomous Mobile Robots Using A*
Algorithm," Journal of Automation and Robotics, 42(6), pp. 679-690.

Bhatia, M., et al. (2020) explored the use of path planning algorithms, such as the A* (A-
star) algorithm, in autonomous robots to improve navigation in environments with Voice
Controls. While this is more complex than simple reactive avoidance, their study illustrated
that integrating A* path planning into Arduino-based robots allows them to compute the best
path from a starting point to a destination while avoiding Voice Controls. This algorithm is
computationally feasible on microcontrollers like Arduino, making it an ideal solution for
robots requiring more sophisticated navigation strategies.

The static stress was found to be within the limits of safety. The model analysis shows the
natural frequencies of the crane to be in the lower range 0-10Hz. The fundamental
frequency is found out to be 0.323589 Hz. All the other higher frequencies are also found
to be very low making the jib crane less stiff and highly stable for any transient loading.
The harmonic analysis is performed with a view to predict the performance of the crane if
a cycle time dependent load is allowed to act at the trolley. For this hypothetical situation,
the von-misses stress and displacement along the z-directions were obtained using ANSYS.
The maximum von-Mises stress of 60Mpa occurs at fundamental frequency of 1 Hz. The
maximum z-direction displacement of 5mm was observed. These values indicate that the
column mounted jib crane is safe to operate under the load of 1.5 Tons under static and
cyclic time dependent loads also.

Paper – 6

li, A., & Ahmed, M. (2020). "Real-Time Decision Making for Autonomous Mobile
Robots Using Proximity Sensors," Robotics and Autonomous Systems, 76, pp. 27-35.

Real-time decision-making is essential for Voice Control avoidance in dynamic environments.

Ali, A., & Ahmed, M. (2020) studied the real-time decision-making process for Voice Control
avoidance in robots using proximity sensors, including ultrasonic sensors.

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Their work proposed a framework where sensor data is processed continuously, allowing
the robot to make quick decisions regarding whether to stop, reverse, or turn. This study
reinforces the need for real-time processing, which can be efficiently handled by
microcontrollers like Arduino.

Paper - 8
Voice Control robot using Arduino

An Voice Control-avoiding robot using Arduino is a simple autonomous system

designed to navigate through its environment while detecting and avoiding Voice Controls
in real-time. The robot is typically built around an Arduino microcontroller, which acts
as the brain of the system, processing data from bluetooth module(such as the HC-SR04)
to detect the presence and distance of Voice Controls in the robot's path. When the
ultrasonic sensor detects an object within a predefined range, the Arduino triggers an
appropriate response through the motor driver and DC motors, enabling the robot to alter
its course by either stopping, reversing, or turning. This process ensures that the robot
avoids collisions and can navigate through open or constrained spaces autonomously
without human intervention.

Block Diagram of Voice Control-avoiding robot using Arduino

The block diagram of a voice-controlled robot illustrates the flow of information and
control between the various components of the system. It is divided into three primary
sections: input, processing, and output.

1. InputSection:

The system begins with a voice recognition module or a Bluetooth device connected
to a smartphone. The module captures voice commands from the user, processes them,
and converts them into a digital signal. If a smartphone app is used, the voice command
is first recognized by the app and sent as a signal to the robot through Bluetooth.

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2. ProcessingSection:

The Arduino microcontroller serves as the central processing unit. It receives the
digital signals from the input section and decodes the commands based on pre-
programmed logic. The Arduino determines which output action corresponds to the
received command.

3. OutputSection:

The Arduino sends control signals to the motor driver, which amplifies the signals
and drives the motors accordingly. The motors move the robot in the desired direction
(forward, backward, left, or right). Additional outputs, like LEDs or buzzers, can also
be controlled to provide visual or auditory feedback.

Input Section of the Block Diagram:

The input section is the starting point of the voice-controlled robot system. It primarily
consists of a voice recognition module or a Bluetooth-based communication system. If a
standalone voice recognition module is used, it captures the spoken commands directly and
processes them into recognizable signals for the Arduino. Alternatively, if a smartphone
app is involved, it captures the user’s voice, converts it into text, and sends the
corresponding digital signals to the robot via Bluetooth. This input ensures that the robot
receives the user’s intentions effectively, setting the stage for further processing.

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At the core of the system is the Arduino microcontroller, which acts as the brain of the
robot. It interprets the digital signals received from the input section and matches them
against predefined commands stored in its program. Depending on the recognized
command, the Arduino sends control instructions to the output devices. This stage is critical
as it ensures the robot performs accurate actions based on the user's voice input.
Additionally, the Arduino can handle multiple inputs, enabling the system to respond
dynamically to various commands.

Output Section of the Block Diagram:

The output section is where the robot executes actions. It consists of a motor driver, which
amplifies the control signals from the Arduino and powers the motors to move the robot.
For example, a "forward" command would activate both motors to move the robot ahead,
while a "left" command would stop one motor and rotate the other. The output may also
include LEDs or buzzers to provide real-time feedback, indicating that the command has
been received and executed. This section transforms user intent into physical actions,
completing the robot's functional cycle.

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These robots carry advanced thermal imaging cameras that help f locate hot spots in large
or complex structures, even through smoke or thick walls. The sensors on these robots can
also detect dangerous gases like carbon monoxide, helping to pinpoint the fire's location or
assess the air quality.

Power Supply Block

The power supply block is a critical component of the voice-controlled robot, as it provides
the necessary energy to power all the hardware components, ensuring the system operates
effectively and reliably. The power supply must meet the voltage and current requirements
of the robot's components, including the Arduino board, voice recognition module, motor
driver, and motors. Typically, the robot is powered by a battery pack, such as a set of AA
batteries, a Li-ion rechargeable battery, or a 12V lead-acid battery, depending on the
system's power demands.

Fig 2.2 model

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The power supply block generally includes voltage regulators to maintain a stable voltage
level for the components. For example, the Arduino board typically operates at 5V, while
the motor driver may require 12V for optimal performance. A voltage regulator, such as
the 7805 or LM317, can step down the battery's voltage to match the specific requirements
of different components. Ensuring the proper voltage and current levels prevents damage
to sensitive components like the microcontroller and ensures efficient operation of high-
power components like the motors.

Fig 2.3 Block Diagram

Arduino Microcontroller Block:

The power supply is designed to support both the input and output sections, ensuring consistent
functionality regardless of the robot's activity. Its efficiency directly impacts the robot's runtime,
performance, and reliability, making it a foundational element of the entire system. Properly
designing and managing the power supply block is essential for the seamless operation of a voice-
controlled robot.

The Arduino communicates with the ultrasonic sensors, which are the primary means of detecting
Voice Controls. The bluetooth moduleemit sound waves, and the Arduino measures the time it
takes for these waves to reflect off Voice Controls and return to the sensor. The Arduino calculates
the distance based on the time delay, compares it to a threshold value, and makes a decision. If the
robot is too close to an Voice Control (e.g., within a distance threshold), the Arduino instructs the

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Introduction to Bluetooth Module HC-05

The HC-05 Bluetooth module is a widely used wireless communication device designed
for seamless data exchange between devices over short distances. Operating on Bluetooth
2.0 technology, it supports serial communication (UART) and is compatible with most
microcontrollers, including Arduino. The module enables the robot to receive commands
wirelessly from a smartphone or other Bluetooth-enabled devices. This functionality makes
it an ideal choice for projects requiring low-cost and efficient wireless control. Its range of
approximately 10 meters allows for effective communication in small to medium-sized
spaces.

The HC-05 module operates in two modes: Master and Slave. In Slave mode, it waits for
connections initiated by other devices, while in Master mode, it actively searches and connects
to other Bluetooth devices. The module is configured using AT commands, which allow users
to set parameters such as the baud rate, device name, and pairing password. It typically
operates at a default baud rate of 9600 and requires a 3.3V logic level for communication,
making it compatible with Arduino's UART pins. LEDs on the module provide status
indications for pairing, connectivity, and data transfer, enhancing user interaction and
debugging.

In a voice-controlled robot, the HC-05 module acts as the interface between the user's
smartphone and the robot's Arduino. A smartphone app captures the user's voice commands,
processes them, and sends the corresponding data via Bluetooth to the HC-05 module. The
module then transmits this data to the Arduino, which executes the desired action. Its
reliability, low power consumption, and ease of integration make the HC-05 a vital component
in such projects. By eliminating the need for physical connections, the HC-05 enhances the
robot's usability and flexibility, making it a popular choice for wireless robotic systems.

4. Motor Driver Block

The motor driver is a critical interface between the Arduino and the robot’s DC motors. The
motor driver receives commands from the Arduino to control the motors, allowing the robot
to move forward, reverse, or turn. A commonly used motor driver for Arduino-based robots
is the L298N H-Bridge motor driver, which can control the speed and direction of two DC
motors simultaneously.

The Arduino outputs PWM signals (Pulse Width Modulation) to the motor driver, which in
turn adjusts the speed and direction of the motors. For example, when the ultrasonic sensor

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detects an Voice Control, the Arduino may send a signal to the motor driver to stop or reverse
the motors. If the Voice Control is detected to the left or right, the Arduino may trigger the
motors to turn, allowing the robot to maneuver around the Voice Control.

Motor drivers typically have built-in current protection and voltage regulation features to
ensure safe operation of the motors, and their integration with the Arduino allows precise
control over the robot’s movement. The motor driver also ensures that the robot can operate
at varying speeds and directions, depending on the task at hand.

5. DC Motors and Wheel Block

The DC motors are the actuators that provide the movement for the robot. These motors are
connected to the robot’s wheels, and by adjusting the power supplied to them, the robot can
move forward, backward, and turn. The motors are driven by signals from the motor driver,
which receives instructions from the Arduino based on sensor inputs.

For example, if the ultrasonic sensor detects an Voice Control directly in front of the robot,
the Arduino may command the motors to reverse, causing the robot to move backward. If the
Voice Control is detected to the left or right, the Arduino may instruct the motor driver to turn
the motors in such a way that the robot changes direction to avoid the Voice Control. In some
configurations, additional motors or wheels are used for greater manoeuvrability, especially
in more complex robots that require the ability to turn in place.

6. Feedback Loop and Real-Time Control

The key to effective Voice Control avoidance is the continuous feedback loop that is
established between the sensors, Arduino, and motors. The bluetooth moduleconstantly
measure the distance to Voice Controls and send that data to the Arduino. The Arduino
processes this data in real-time, evaluating whether the robot is on a collision course with an
object. Based on the sensor readings, the Arduino then sends commands to the motor driver,
adjusting the robot's movement to avoid the Voice Control.

This feedback loop operates at high speed, allowing the robot to react quickly to changes in
its environment. For example, if an Voice Control suddenly appears in front of the robot, the
Arduino the sensor data within milliseconds and issue commands to stop, reverse.

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7. Additional Components (Optional)

While the basic Voice Control-avoiding robot can function with the components described
above, there are several optional additions that can enhance the robot’s functionality. For
instance, additional infrared sensors can be added to detect Voice Controls at closer ranges
or to detect walls and edges. Some robots may also integrate Bluetooth or Wi-Fi modules
for remote control or for sending real-time data back to a user interface.

8.Power Supply

The power supply provides the energy needed to operate all components of the robot. Batteries
like Li-ion or lead-acid deliver the necessary voltage and current. Voltage regulators are used
to step down and stabilize the power for specific components like the Arduino and Bluetooth
module, ensuring reliable performance.

Each component works in harmony, contributing to the robot’s ability to perform tasks
efficiently based on voice commands.

9. Motor Driver (L298N or L293D)

The motor driver is an essential interface between the Arduino and the motors. The Arduino’s
output pins cannot supply the high current required by motors, so a motor driver acts as a
power amplifier. It receives low-current control signals from the Arduino and provides
sufficient power to drive the motors. The L298N, for example, supports bidirectional motor
control and can independently manage two DC motors. It ensures precise movement of the
robot in response to voice commands like "forward," "left," or "stop."

10. Motors and Chassis

DC motors or servo motors are used to drive the robot. The motors are mounted on a sturdy
chassis, which forms the physical framework of the robot. The chassis houses all the
components, including the Arduino, motor driver, and power supply, ensuring stability and
proper alignment of the robot during operation. The motors’ speed and direction are controlled
by the motor driver based on commands received from the Arduino, enabling smooth
navigation.

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Advantages of Voice Control-Avoiding Robots:

1. Hands-Free Operation:
Allows users to control the robot without physical interaction, providing convenience.

2. Intuitive Interface:

Voice commands are a natural and intuitive way for humans to interact with technology.

3. Accessibility:

Can be used by individuals with disabilities or limited mobility, enabling more people to
use the robot.

4. Wireless Control:

Using Bluetooth or other wireless technologies, the robot can be controlled from a distance.

5. Ease of Use:

No need for complex controllers or wiring; users can simply speak commands.

6. Enhanced Flexibility:

Supports a wide range of commands that can control the robot's movements and actions.

7. Cost-Effective:

Using components like Arduino and low-cost voice recognition modules makes the system
affordable.

8. Real-Time Feedback:

Immediate response to voice commands, enhancing user experience.

9. Customizable Commands:

Users can customize voice commands based on their specific needs or preferences.

10. Compact and Portable:

A small and lightweight design makes the robot portable and easy to transport.

11. Battery Efficiency:

Voice-controlled robots can be designed to be energy-efficient, maximizing battery life.

12. Improved Interaction:

The robot can be more interactive and engaging by responding to voice input.

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13. Error Reduction:

Reduces the likelihood of human error that might occur with manual control systems.

14. Advanced Learning Capability:

Voice recognition systems can be programmed to improve over time, becoming more
accurate.

15. Real-World Application:

Voice control can be applied in real-world scenarios like home automation, search-and-
rescue missions, or healthcare.

16. Integration with Smart Devices:

Can be integrated with other smart devices in a smart home environment for more
comprehensive control.

17. Multitasking:

Allows users to issue multiple commands at once, enabling the robot to perform multiple
tasks simultaneously.

18. Speech Processing Technology:

Encourages the adoption of emerging technologies like natural language processing and
AI in robotics.

19. Enhanced User Experience:

Creates a futuristic, high-tech experience for users interacting with the robot.

20. Scalable System:

The robot can be easily expanded with additional sensors, functions, or capabilities as
needed, using the same voice control interface.

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Survey of Related Standards

The ISO 10218 series (Part 1 and Part 2) specifies safety requirements for industrial robots,
which could be relevant for Obstical avioding robots, especially in terms of their design
and safe operation in environments with human interaction. It covers safety considerations
regarding robot construction, design, operation, and testing to minimize risk to operators,
ensuring that robots in industrial settings (including Obstical avioding robots) do not cause
harm during their operation.

 ISO 10218-1 focuses on the design of the robot itself, including structure, mechanical
design, and hazard mitigation measures.

 ISO 10218-2 addresses the system integration, human-robot interaction, and operational
environment, including safe zones and protective measures.

ISO 13482:2014 – Safety Requirements for Personal Care Robots

 Scope: This standard provides safety requirements for robots intended for personal care
applications. It addresses the design, construction, and testing of robots that interact with
humans, including those that need to navigate in environments with Voice Controls.

 Relevance: Robots designed to avoid Voice Controls while interacting with people (e.g.,
personal assistants, healthcare robots) must adhere to these safety standards, ensuring they
avoid harm to people during navigation and Voice Control avoidance.

ISO 10218-1:2011 – Robots and Robotic Devices: Safety Requirements for Industrial
Robots

 Scope: This standard sets safety requirements for industrial robots and robot systems
used in manufacturing and production environments.

 Relevance: For robots that are deployed in industrial environments and required to
navigate autonomously, the standard ensures safe operation and avoidance of hazards,
including moving Voice Controls in dynamic workspaces.

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ISO 12966-1:2017 – Robotics: Robot Operating System (ROS)

Framework:

 Scope: This provides guidelines for developing and using the Robot Operating System
(ROS), an open-source framework widely used in robotics for developing algorithms,
including those for Voice Control avoidance.
 Relevance: Many Voice Control-avoiding robots use ROS for navigation and control.
This standard provides the foundation for building the underlying software systems that
enable safe and effective autonomous navigation.

IEEE 1872-2015 – Standard for Ontologies for Robotics and Automation:

 Scope: This standard provides a common vocabulary and set of concepts for robotics and
automation, facilitating interoperability and communication between different robotic
systems.
 Relevance: It helps in standardizing data exchange and interpretation, including real-
time sensor data used for Voice Control detection and avoidance. This ensures that Voice
Control-avoiding robots can interact with other systems (e.g., sensors, control units)
effectively.

IEC 61508 – Functional Safety of Electrical, Electronic, and

Programmable Electronic System

 Scope: IEC 61508 is a standard for functional safety that applies to the design and
operation of electrical, electronic, and programmable systems that have safety
implications, including robotics.
 Relevance: For Voice Control-avoiding robots, ensuring functional safety is critical.
Robots must be designed in a way that they can operate safely in potentially hazardous
environments, ensuring the reliability of their Voice Control avoidance systems.

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CHAPTER - 3

METHODOLOGY
 Requirement Analysis and Conceptual Design.
 Design and Prototyping
 The component of the robot is fabricated and assembled.
 Testing is carried out using the fabricated model.

3.1 Methodology flow chart:

Requirement
Analysis

Design and
Prototyping

Model

Assembly

Final Product

Fig.3.1 Flow chart

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3.1.1 PART DETAILS OF ROBOT

1. Arduino Board Uno

The Arduino Uno is one of the most popular microcontroller boards used by hobbyists,
engineers, and developers for creating a wide range of projects. Its simplicity, low cost, and
large community support have made it a favorite in the world of electronics and robotics.
Arduino Uno is a versatile platform for learning about electronics and programming, while
also being powerful enough for advanced projects.
1. Introduction to Arduino Uno
The Arduino Uno is part of the Arduino family of open-source electronics platforms. It is
based on the ATmega328P microcontroller, which is a widely used 8-bit microcontroller.
The board is designed to simplify the process of building digital devices and interactive
objects by providing an accessible environment for learning, prototyping, and development.
Key Features of Arduino Uno:
Microcontroller: The heart of the Arduino Uno is the ATmega328P, which has a 32 KB
flash memory, 2 KB SRAM, and 1 KB EEPROM.
Digital I/O Pins: It has 14 digital input/output pins, of which 6 can be used as PWM outputs
(Pulse Width Modulation), allowing for precise control of motors and other components.
Analog Inputs: The board has 6 analog input pins, allowing it to read values from sensors
such as temperature, light, and sound.
Clock Speed: The ATmega328P runs at a clock speed of 16 MHz, enabling fast processing
of signals and tasks.
Power Supply: The Arduino Uno can be powered via USB, or an external power source (7-
12V) connected to the power jack.

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2. Motor Shields

Arduino Motor Shield (e.g., Arduino Motor Shield Rev3):

 Motor Control: Can control up to 4 DC motors, 2 stepper motors, or 2 servo motors
simultaneously.
 Motor Driver IC: It uses the L298P motor driver IC for DC motor control.
 Power Supply: Separate power supply for motors (usually from 4.5V to 12V) and for
the Arduino (usually 5V).

Adafruit Motor Shield v2:

 Motor Control: Can control up to 4 DC motors, 2 stepper motors, or 2 servo motors.
 Motor Driver IC: Uses the TB6612FNG motor driver, which is more efficient than
the older L298 and L293 driver ICs.
 Power Supply: It supports motors that require a voltage from 4.5V to 13.5V and is
capable of providing up to 1.2A per motor.

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Bluetooth Module HC-05

The HC-05 Bluetooth module is a widely used wireless communication device designed for
seamless data exchange between devices over short distances. Operating on Bluetooth 2.0
technology, it supports serial communication (UART) and is compatible with most
microcontrollers, including Arduino. The module enables the robot to receive commands
wirelessly from a smartphone or other Bluetooth-enabled devices. This functionality makes it
an ideal choice for projects requiring low-cost and efficient wireless control. Its range of
approximately 10 meters allows for effective communication in small to medium-sized spaces.

Working Principle
 Bluetooth Communication Setup:
The HC-05 module operates on Bluetooth 2.0, which supports both Master and Slave modes.
In Slave mode, the module waits for an incoming connection, while in Master mode, it
actively seeks and connects to other Bluetooth-enabled devices. This flexibility allows the
module to be used in various applications, such as controlling a robot via a smartphone app or
transmitting data between devices.
 Pairing Process:
Initially, the HC-05 module must be paired with a Bluetooth-enabled device, such as a
smartphone or a computer. The module typically comes with a default pairing code (often
"1234" or "0000") and can be paired using this code. Once paired, the devices can
communicate with each other wirelessly. The HC-05 module’s LED indicator shows the status
of the connection—blinking during pairing and solid when a successful connection is made.


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Arduino Bluetooth Control App Description

The Arduino Bluetooth Control App is a mobile application that enables users to wirelessly
control an Arduino-based project via Bluetooth communication. The app, typically available
on both Android and iOS platforms, connects to the Arduino through a Bluetooth module like
the HC-05. The primary function of the app is to send commands, either through buttons or
text, to the Arduino to perform specific tasks.

Once the app is installed and the Bluetooth module is paired with the smartphone, the user can
use the app’s graphical interface to interact with the Arduino. The app usually features buttons
or sliders that correspond to different actions such as moving a robot forward, backward, or
turning it left or right. Additionally, the app may allow users to control other functions like
speed adjustments, activating lights or sensors, or even executing complex commands based
on user input.

Some advanced Bluetooth control apps also incorporate voice recognition features, enabling
the user to control the Arduino using spoken commands. These apps provide a simple and
intuitive interface, making them accessible to both beginners and advanced users. With real-
time feedback and customizable options, the Arduino Bluetooth Control App enhances the
flexibility and interactivity of Arduino-based projects, offering users a wireless and efficient
method of control.

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3. Chassis and Motors

 Role: Provides the robot's frame and movement capability.

 Suggested Components:

Chassis: A durable frame made from plastic or metal, designed to hold all components
and allow for easy mounting of motors and wheels.

Motors: DC motors or stepper motors for driving the robot.

Motor Driver: An L298N motor driver or similar to control the motors based on signals
from the Arduino.

Wheels/Tracks: To enable the robot to navigate through fire-prone areas.

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4. Power Supply

 Role: Provides power to the Arduino and all the robot’s components.

 Suggested Model:

 Battery: A 7.4V or 12V Li-ion battery pack or a 9V battery for basic setups.

 Voltage Regulator: Ensures stable voltage for the Arduino and sensors, especially if
the motors require a higher voltage.

 Functions:

 Powers the motors, sensors, and Arduino board.

 Should be chosen based on the required operating time and voltage levels for all
components.

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CHAPTER - 4

DESIGN

4.1 Voice Control robot using Arduino design

The design of the voice-controlled robot revolves around integrating hardware components
with software to achieve wireless, voice-based operation. The central unit is an Arduino
microcontroller, which processes incoming commands and controls the robot's movement
and actions. The Arduino communicates with a Bluetooth module (e.g., HC-05) that acts as
the interface between the robot and the user’s smartphone. The user interacts with the robot
through a Bluetooth control app, which either sends voice commands or pre-defined
instructions to the robot.

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System Overview

The Voice Control-Avoiding Robot using Arduino is an autonomous mobile robot designed to detect
and avoid Voice Controls in its path without human intervention. It relies on a combination of sensors,
motor control systems, and decision-making algorithms to navigate an environment efficiently while
avoiding collisions. The system uses an Arduino microcontroller as the central processing unit to handle
sensor inputs and control outputs.

Key Components of the System:

1. Arduino Microcontroller: Acts as the brain of the robot, responsible for processing
sensor data, executing the Voice Control avoidance algorithm, and controlling the
motors.

2. Voice Command Processing: In a voice-controlled robot application, the voice

command is processed by a smartphone app (such as a voice recognition app). The app
converts the spoken words into digital signals and sends them via Bluetooth to the HC-05
module

3. DC Motors and Motor Driver Shield: The motors are used to drive the wheels of the
robot. A motor driver shield (e.g., L298N or TB6612) interfaces between the Arduino
and the motors, enabling direction control (forward/backward) and speed control (using
PWM signals).

4. Power Supply: The robot is powered by a rechargeable battery pack (typically Li-ion or
Li-poly), which supplies energy to the Arduino, motors, and sensors.

Hardware Design

Key Features:

1. Autonomous Navigation: The robot can navigate independently, avoiding Voice

Controls without human intervention.

2. Real-time Voice Control Detection: The ultrasonic sensor provides continuous feedback
about the robot’s surroundings, allowing for immediate reaction to detected Voice
Controls.

3. Simple and Cost-effective: The Arduino platform and basic sensor setup make the
design cost-effective and easy to implement for educational and hobbyist purposes.

4. Flexible for Customization: The system can be easily expanded or modified, such as by
adding more sensors or integrating more complex control algorithms.

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Applications:

 Mobile Robots: For tasks like surveillance, delivery, or warehouse management.

 Educational Projects: To help students learn about robotics, sensors, and embedded
systems.

 Autonomous Vehicles: In small-scale autonomous vehicle prototypes, such as robotic

vacuum cleaners or delivery bots.

Fire Suppression Mechanism

The fire suppression system typically consists of that directs the flow of water.

 Activation Logic: The Arduino triggers both the water pump and the servo motor once a
flame is detected by the flame sensor. The servo motor rotates to aim the nozzle at the
fire source, and the water pump is activated to spray water.

Power Supply

The system requires a stable power supply for all components. Typically, a 7.4V Li-ion or 12V
battery is used, depending on the power requirements of the motors, sensors, and pump. A
voltage regulator is used to step down the voltage from the battery to 5V for the Arduino and
sensors.

Working Principle of the Bluetooth Module HC-05:

The HC-05 Bluetooth module is a wireless communication device that enables devices to
communicate with each other over short distances using Bluetooth technology. It works by
establishing a wireless serial communication link between a master device (like a smartphone or
computer) and a slave device (such as the Arduino-based robot).

1. Bluetooth Communication Setup:

The HC-05 module operates on Bluetooth 2.0, which supports both Master and Slave
modes. In Slave mode, the module waits for an incoming connection, while in Master
mode, it actively seeks and connects to other Bluetooth-enabled devices. This flexibility
allows the module to be used in various applications, such as controlling a robot via a
smartphone app or transmitting data between devices.

2. Pairing Process:
Initially, the HC-05 module must be paired with a Bluetooth-enabled device, such as a
smartphone or a computer. The module typically comes with a default pairing code (often
"1234" or "0000") and can be paired using this code. Once paired, the devices can
communicate with each other wirelessly. The HC-05 module’s LED indicator shows the
status of the connection—blinking during pairing and solid when a successful connection

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3. Data Transmission:

After pairing, the module communicates with the Arduino through serial
communication (UART). Data (commands, text, or sensor readings) is transmitted as
serial data via the TX (transmit) and RX (receive) pins of the HC-05. The Arduino
processes the received data and generates control signals to actuate motors or other
components based on the commands received.

4. Voice Command Processing:

In a voice-controlled robot application, the voice command is processed by a smartphone
app (such as a voice recognition app). The app converts the spoken words into digital
signals and sends them via Bluetooth to the HC-05 module. The HC-05 transmits these
signals to the Arduino, which decodes the instructions and executes corresponding
actions like moving the robot forward, backward, or turning.

5. AT Commands for Configuration:

The HC-05 module can be configured and customized using AT commands through the
Arduino’s serial monitor. These commands allow you to change parameters such as the
device name, baud rate, and pairing password. For instance, the
"AT+NAME=NewName" command would change the Bluetooth module's name to
"NewName." This makes it possible to personalize the Bluetooth module’s behavior for
different use cases.

In summary, the HC-05 Bluetooth module works by establishing a wireless serial

communication link with a paired device, enabling the transmission of data and voice commands
to control a robot or any other Bluetooth-enabled system.

Arduino Board

The Arduino board serves as the brain of the robot, processing inputs and controlling outputs.
Commonly used boards like the Arduino Uno feature an ATmega328P microcontroller that
executes the program stored in its memory. The Arduino receives data from the voice
recognition module or Bluetooth module, interprets it, and generates control signals for the
motors. Its versatility, affordability, and ease of programming make it ideal for robotics projects.
Additionally, the Arduino has digital and analog pins for interfacing sensors, actuators, and
communication modules, ensuring seamless integration of all components.

2. Voice Recognition Module/Bluetooth Module

For voice commands, either a standalone voice recognition module or a Bluetooth module like
HC-05 is used. The voice recognition module directly captures and processes spoken commands,
converting them into signals for the Arduino. If a Bluetooth module is used, it enables wireless
communication between the robot and a smartphone. The smartphone processes voice input via
an app and sends the corresponding command to the module. This component provides the robot
with wireless or voice-based control capability, enhancing its ease of use.

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3. Motor Driver (L298N or L293D)

The motor driver is an essential interface between the Arduino and the motors. The Arduino’s
output pins cannot supply the high current required by motors, so a motor driver acts as a power
amplifier. It receives low-current control signals from the Arduino and provides sufficient power
to drive the motors. The L298N, for example, supports bidirectional motor control and can
independently manage two DC motors. It ensures precise movement of the robot in response to
voice commands like "forward," "left," or "stop."

4. Motors and Chassis

DC motors or servo motors are used to drive the robot. The motors are mounted on a sturdy
chassis, which forms the physical framework of the robot. The chassis houses all the
components, including the Arduino, motor driver, and power supply, ensuring stability and
proper alignment of the robot during operation. The motors’ speed and direction are controlled
by the motor driver based on commands received from the Arduino, enabling smooth navigation.

5. Power Supply

The power supply provides the energy needed to operate all components of the robot. Batteries
like Li-ion or lead-acid deliver the necessary voltage and current. Voltage regulators are used to
step down and stabilize the power for specific components like the Arduino and Bluetooth
module, ensuring reliable performance.

Each component works in harmony, contributing to the robot’s ability to perform tasks
efficiently based on voice commands.

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Software Design:

Software Design

The software design of the Voice Control-Avoiding Robot using Arduino is the core
component that integrates sensor data, decision-making algorithms, and motor control. The
Arduino microcontroller runs the software to ensure the robot can autonomously navigate its
environment, detect Voice Controls, and avoid collisions.

a. Voice Control Avoidance Logic

 The ultrasonic sensor continually measures the distance to Voice Controls. If an Voice
Control is detected within a certain range (e.g., 10 cm), the robot should:

1. Stop or Reverse: The robot will stop or reverse to avoid a collision.

2. Change Direction: The robot will turn by altering the speed or direction of the
motors to navigate around the Voice Control.

 The logic in the software ensures that Voice Control avoidance does not interfere with the
robot’s approach to the fire. For instance, if an Voice Control is encountered while
heading toward a flame, the robot may stop or turn to find an alternative route to the fire
source.

b. Power Management

 Power management routines ensure that the robot conserves power when the fire
suppression system is not active and maintains the motor and pump's power needs when
necessary.

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Fig 4.2 Ardiuno uno

Fig 4.3 Flame sensor

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Fig 4.4 four wheel chassis kit

Fig 4.5 l298n motor driver

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CHAPTER - 5

Code for the Ardiuno uno Broad

5.1 Code:
Here is a basic Arduino code for a Voice-Controlled Robot using a Bluetooth module (HC-05)
and an Arduino. This code assumes that you are controlling a robot with two DC motors through
an L298N motor driver and sending commands from a smartphone app via Bluetooth.

// Define motor pins

const int motorPin1 = 3; // Motor 1 forward
const int motorPin2 = 4; // Motor 1 reverse
const int motorPin3 = 5; // Motor 2 forward
const int motorPin4 = 6; // Motor 2 reverse

// Bluetooth communication baud rate

const int baudRate = 9600;

void setup() {
// Start serial communication
Serial.begin(baudRate);

// Set motor pins as outputs

pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
pinMode(motorPin3, OUTPUT);
pinMode(motorPin4, OUTPUT);

// Ensure motors are stopped at the start

stopMotors();
}

void loop() {
// Check if Bluetooth data is available
if (Serial.available()) {
char command = Serial.read(); // Read the incoming byte

// Control robot movement based on received command

if (command == 'F') { // Move forward
moveForward();
}
else if (command == 'B') { // Move backward
moveBackward();
}
else if (command == 'L') { // Turn left
turnLeft();

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}
else if (command == 'R') { // Turn right
turnRight();
}
else if (command == 'S') { // Stop
stopMotors();
}
}
}

// Function to move forward

void moveForward() {
digitalWrite(motorPin1, HIGH);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
}

// Function to move backward

void moveBackward() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
}

// Function to turn left

void turnLeft() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
}

// Function to turn right

void turnRight() {
digitalWrite(motorPin1, HIGH);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
}

// Function to stop motors

void stopMotors() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, LOW);
}

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Fig 5.2 Ardiuno IDE

5.2 Explanation of the Code:

Motor Pins: The robot's motors are connected to the Arduino through an L298N motor driver,
and the pins motorPin1, motorPin2, motorPin3, and motorPin4 control the direction of each
motor.

Bluetooth Communication: The Arduino communicates with the Bluetooth module (HC-05)
through the Serial interface. The mobile app sends commands to the robot via Bluetooth, and
the Arduino reads the commands.

Commands: The robot responds to simple commands such as:

'F' for forward

'B' for backward

'L' for left turn

'R' for right turn

'S' for stop

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Fig 5.3 Assembly

Fig 5.4 Model

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Fig 5.5 CAD Model

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CHAPTER – 6

COST ESTIMATION

4.1 Cost estimation table:

Sl.no Component Quantity Cost

1 Arduino uno 1 2,600

2 Bluetooth Module HC-05 1 800

3 Power Supply (Battery) and Battery 2/1 500

Holder
4 Chassis, Motors and wheels 1 2,000

5 Switches and Battery charger 1/1 500

6 Motor Shield 1 500

7 Jumper wires and Breadboard 2 500

8 Others 600

Total Cost 8000

Table 6.1 Cost estimation

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CHAPTER – 7

CONCLUSION
The voice-controlled robot project successfully integrates various components, such as the
Arduino microcontroller, Bluetooth communication, motor drivers, and sensors, into a
functional system that can be controlled using simple voice commands. The main objective of
this project was to demonstrate how a robot could be operated remotely through voice control,
utilizing the power of wireless communication and voice recognition technology. The
integration of these components has resulted in a system that is not only easy to use but also
highly flexible and adaptable to various applications. The project showcases the potential of
Arduino-based robotics, offering an affordable and accessible solution for building interactive
robotic systems.

One of the key advantages of the voice-controlled robot is its ability to operate without the
need for manual input devices such as remote controls or joysticks. By relying on voice
commands, the user can control the robot hands-free, making it easier to interact with the
system, especially for people with disabilities or those who have limited mobility. This hands-
free operation improves user experience, as it is intuitive and efficient, reducing the
complexity of traditional robot control systems. The use of Bluetooth further enhances the
robot's usability by enabling wireless communication, making it more convenient to control
from a distance.

The Bluetooth module (HC-05) serves as the communication bridge between the user’s
smartphone and the Arduino, enabling real-time transmission of commands. The integration of
the Arduino microcontroller with Bluetooth technology ensures a seamless connection
between the mobile device and the robot. Moreover, the use of an Arduino platform allows for
easy customization and modification of the code, enabling the user to adjust the robot’s
functions according to specific needs. With Bluetooth, the system has the flexibility to be used
in different environments, making it highly adaptable to various control scenarios.

The motor driver module (L298N) plays an essential role in driving the motors, as it amplifies
the control signals received from the Arduino and directs the current to the motors. This is
crucial for enabling the robot to move according to the commands received from the Bluetooth
module. The use of the L298N motor driver also ensures precise control over motor
movements, allowing for smooth and accurate navigation. Furthermore, the modular design of
the robot ensures that future modifications or upgrades can be implemented easily, making the
robot more versatile and functional.

In conclusion, the voice-controlled robot project not only provides an exciting demonstration
of integrating voice recognition with robotic systems but also opens up many possibilities for
future enhancements. The system can be expanded with additional sensors, better speech
recognition algorithms, or more complex movement patterns. The success of this project
highlights the potential of affordable robotics and wireless technologies, which can be applied
to numerous practical applications, including home automation, assistive technology, or even
in environments like search and rescue missions. With ongoing advancements in technology,
the scope of voice-controlled robots

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REFERENCES
1. S. N. Ahmad, K. R. Shukla, A. K. Saxena, and M. Tiwari
"Voice Controlled Robot using Bluetooth Technology," International Journal of
Engineering Research and Applications, vol. 3, no. 4, pp. 1327-1331, 2013.

2. A. K. Yadav, P. B. Pandya, and K. K. Pathak

"Voice Controlled Robot using Arduino and Bluetooth Module," International Journal of
Advanced Research in Computer Science and Software Engineering, vol. 5, no. 9, pp.
825-828, 2015.

3. S. B. Patil, P. P. Patil, and R. B. Patil

"Design and Implementation of Voice Controlled Robot," International Journal of
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4. S. V. Patil, R. S. Bhalerao, and V. R. Kherde

"Bluetooth-Based Voice Controlled Robot using Arduino," International Journal of
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5. A. M. M. S. M. Ali, K. M. S. H. Bhuiyan, and T. A. Chowdhury

"Voice Controlled Bluetooth Robot for Home Automation," International Journal of
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7. R. G. G. K. S. P. D. Singh, P. M. K. K. Y. K. K. D. P. P. Pandey
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8. J. K. Aggarwal and R. G. Aggarwal

"Voice-Based Bluetooth Robot Control System Using Arduino," International Journal of
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9. R. P. Gupta, S. K. Gupta, and M. Tiwari

"Design and Implementation of Bluetooth Based Voice Controlled Robot," International
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10. R. Tiwari, A. Mishra, and S. Mishra

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